Patent Description:
Conventionally, a remote control apparatus to control medical equipment is known. For example, <CIT> discloses a minimally invasive surgical system that includes a cabinet including a handle to be operated in a standing position. In the minimally invasive surgical system disclosed in <CIT>, an operator operates a surgical manipulator (medical equipment) by operating the handle in the standing position. Further, <CIT> includes a handle that is to be operated in a sitting position, so that the operator in the sitting position operates an end effector of a surgical manipulator by operating the handle. In the control apparatus for the surgical manipulator disclosed in <CIT> and <CIT>, the operator is required to operate the handle in only either of the standing position or the sitting position. Thus, in some cases, the operator cannot take desired postures. On the other hand, International Application Publication No. <CIT> discloses a remote control apparatus for a surgical manipulator using a wireless handheld portable input device. Since the remote control apparatus of International Application Publication No. <CIT> has portability, it is possible to operate the control apparatus in a standing position and a sitting position.

<CIT>, which was published after the priority date of the present application, discloses a user console for controlling a remote surgical robotic instrument including an adjustable ergonomic seat assembly comprising a seat pan, where the seat assembly is configurable between a seated configuration and an elevated configuration, and where the seat pan has a higher anteverted position in the elevated configuration than in the seated configuration. The user console may further include a display configured to receive real time surgical information, and one or more controls for remotely controlling the robotic instrument. The display and/or the one or more controls may have multiple positions and change position automatically according to a seating profile associated with at least one user.

<CIT> discloses a hyperdexterous surgical system including one or more surgical arms coupleable to a fixture and configured to support one or more surgical tools. The system can include an electronic control system configured to communicate electronically with the one or more robotic surgical tools. The control system can electronically control the operation of the one or more surgical tools. The system can include one or more portable handheld controllers actuatable by a surgeon to communicate one or more control signals to the one or more surgical tools via the electronic control system to operate the one or more surgical tools. The one or more portable handheld controllers can provide said one or more control signals from a plurality of locations of an operating arena, allowing a surgeon to be mobile during a surgical procedure and to remotely operate the one or more surgical tools from different locations of the operating arena.

<CIT> discloses an ultrasonograph containing an operation panel on an upper face of a housing in the operation of a standing posture or a moving operation; and positioning the operation panel in front in the operation of a sitting posture.

<CIT>, which was published after the priority date of the present application, discloses a remote control apparatus including an operating handle configured to be movable within a predetermined operation area, and used to input the movement type instruction to be executed by the surgical manipulator; and a support mechanism <NUM> which supports the operating handle. The support mechanism is configured to be able to transform between a first posture in which the operating handle is held such that the operation area of the operating handle is included in a clean zone that is set at and above a predetermined height from a floor surface where the remote control apparatus is placed, and a second posture in which the operating handle is held such that at least part of the operation area of the operating handle is located in a zone below the clean zone.

However, in the control apparatus for the medical manipulator disclosed in International Application Publication No. <CIT>, even though the operator can operate the control apparatus in the standing position and the sitting position, the operator is required to hold the control apparatus, which increases the burden on the operator. Therefore, there is a problem in that it is difficult to allow the operator to operate the remote control apparatus in desired postures while suppressing an increase of the burden on the operator.

The invention is to provide a remote control apparatus and a remote control system that allow an operator to operate in desired postures while suppressing an increase of a burden on the operator.

A remote control apparatus according to an embodiment of the invention includes: an operation handle configured to be movable within a predetermined operation range and to remotely operate medical equipment; an armrest to support arms of an operator; and a supporting mechanism supporting the operation handle and the armrest. The supporting mechanism is configured to be transitionable between a first mode in which the operation handle that is positioned at a neutral position of the operation range is held at a first height position, which is <NUM> or more above a floor surface on which the remote control apparatus is placed and a second mode in which the operation handle that is positioned at the neutral position of the operation range is held at a second height position, which is <NUM> or more below the first height position.

According to the invention, it can allow an operator to operate in desired postures while suppressing increase of a burden on the operator.

The invention is defined in appended independent claim <NUM>.

Further embodiments are defined in appended dependent claims.

Embodiments are explained with reference to drawings hereinafter.

A configuration of a remote control apparatus <NUM> according to a first embodiment is described with reference to <FIG>.

As illustrated in <FIG>, the remote control apparatus <NUM> is provided for teleoperation of medical equipment included in a patient-side system <NUM>. When an operator O, as a surgeon, inputs an action mode instruction to be executed by the patient-side system <NUM>, to the remote control apparatus <NUM>, the remote control apparatus <NUM> transmits the action mode instruction to the patient-side system <NUM> through a controller <NUM>. In response to the action mode instruction transmitted from the remote control apparatus <NUM>, the patient-side system <NUM> operates medical equipment, such as surgical instruments, an endoscope, and the like, held by surgical manipulators <NUM>. This allows for minimally invasive surgery. A surgery assisting system includes the remote control apparatus <NUM> and the patient-side system <NUM> including the surgical manipulators <NUM>.

The patient-side system <NUM> constitutes an interface to perform a surgery for a patient P. The patient-side system <NUM> is placed beside an operation table <NUM> on which the patient P lies. The patient-side system <NUM> includes the plural surgical manipulators <NUM>. One of the surgical manipulators <NUM> holds an endoscope 201b while the others hold surgical equipment (instruments 201a). The surgical manipulator <NUM> holding surgical instruments (instruments 201a) function as instrument arms 201A while the surgical manipulator <NUM> holding the endoscope 201b functions as a camera arm 201B. The instrument arms 201A and camera arm 201B are commonly supported by a platform <NUM>. Each of the surgical manipulators <NUM> includes plural joints. Each joint includes a driver including a servo-motor and a position detector such as an encoder. The surgical manipulators <NUM> are configured so that medical equipment attached to each surgical manipulator <NUM> is controlled by a driving signal given through the controller <NUM>, to perform a desired movement.

The platform <NUM> is supported by a positioner <NUM> placed on a floor of an operation room. The positioner <NUM> includes a column <NUM> and a base <NUM>. The column <NUM> includes an elevating shaft adjustable in the vertical direction. The base <NUM> includes wheels and is movable on the floor surface.

The instrument arms 201A detachably hold the instruments 201a as the medical equipment at distal end portions thereof. Each instrument 201a includes a housing attached to the instrument arm 201A and an end effector provided at a distal end of an elongated shaft. An example of the end effector is grasping forceps, a hook, scissors, a high-frequency knife, a snare wire, a clamp, or a stapler, but is not limited to those and can be various types of treatment tools. In surgeries using the patient-side system <NUM>, the instrument arms 201A are introduced into a body of a patient P through a cannula (trocar) placed on the body surface of the patient P, and the end effector of each instrument 201a is located near the surgery site.

To a distal end portion of the camera arm 201B, the endoscope 201b (see <FIG>), as the medical equipment, is detachably attached. The endoscope 201b captures an image within the body cavity of the patient P. The captured image is outputted to the remote control apparatus <NUM>. A 3D endoscope capable of capturing a three-dimensional image or a 2D endoscope is used as the endoscope 201b. In surgeries using the patient-side system <NUM>, the camera arm 201B is introduced into the body of the patient P through a trocar placed on the body surface of the patient P, and the endoscope 201b is located near the surgery site.

The remote control apparatus <NUM> constitutes an interface with the operator O. The remote control apparatus <NUM> is an apparatus that allows the operator O to operate medical equipment held by the surgical manipulators <NUM>. Specifically, the remote control apparatus <NUM> is configured to transmit action mode instructions which are inputted by the operator O and are to be executed by the instruments 201a and endoscope 201b, to the patient-side system <NUM> through the controller <NUM>. The remote control apparatus <NUM> is installed beside the operation table <NUM> so that the operator O can see a state of the patient P very well while operating the master apparatus, for example. The remote control apparatus <NUM> may be configured to transmit the action mode instructions wirelessly and installed in a room different from the operation room in which the operation table <NUM> is installed.

The action modes to be executed by the instruments 201a include a mode of actions (a series of positions and postures) to be taken by each instrument 201a and actions to be executed by the function of each instrument 201a. For example, in a case where the instrument 201a is a pair of grasping forceps, the action mode to be executed by the instrument 201a may include roll and pitch positioning of the wrist of the end effector and the action to open or close the jaws. For example, in a case where the instrument 201a is a high-frequency knife, the action mode to be executed by the instrument 201a may include vibration of the high-frequency knife, specifically, supply of current to the high-frequency knife. For example, in a case where the instrument 201a is a snare wire, the action mode to be executed by the instrument 201a may include a capturing action and an action to release the captured object, and may include an action to supply current to a bipolar or monopolar instrument to burn off the surgery site.

The action mode to be executed by the endoscope 201b includes the position and posture of the distal end of the endoscope 201b or setting of the zoom magnification, for example.

As illustrated in <FIG>, the remote control apparatus <NUM> is provided with a cover <NUM>. The cover <NUM> covers sides of the remote control apparatus <NUM> in the right and left direction (X direction), in the rear direction (Y2 direction), and in the upper direction (Z1 direction). Note that <FIG> illustrate the remote control apparatus <NUM> in a state where the cover <NUM> is removed for descriptive purposes. for convenience.

As illustrated in <FIG>, the remote control apparatus <NUM> includes operation handles <NUM>, an operation pedal <NUM>, a display supporting arm <NUM> to support a display <NUM>, an armrest <NUM> to support arms of the operator O, and a control apparatus <NUM>, and a base <NUM>. The remote control apparatus <NUM> further includes a posture operation section <NUM> and a supporting mechanism <NUM>. The supporting mechanism <NUM> supports the operation handles <NUM> and armrest <NUM>.

The operation handles <NUM> are provided in order to remotely operate medical equipment held by the surgical manipulators <NUM>. Specifically, the operation handles <NUM> accept operations by the operator O for operating medical equipment (the instruments 201a and endoscope 201b). The operation handles <NUM> include a pair of operation handles <NUM> arranged side by side in the X direction. The operation handle <NUM> on the X2 side (on the right side) of the pair of operation handles <NUM> is operated by the right hand of the operator O while the operation handle <NUM> on the X1 side (on the left side) is operated by the left hand of the operator O.

The operation handles <NUM> are attached to a supporting section <NUM> of the supporting mechanism <NUM>. The operation handles <NUM> are arranged extending from the back side (the Y2 side) toward the front side (the Y1 side) of the remote control apparatus <NUM>. Plural joints are provided between the supporting section <NUM> and each operation handle <NUM> so that the operation handles <NUM> can move relative to the supporting section <NUM> in a predetermined three-dimensional operation range A (see <FIG> and <FIG>). Specifically, the operation handles <NUM> are configured so as to move relative to the supporting section <NUM>, up and down (in the Z direction), right and left (in the X direction), and forward and backward (in the Y direction). Each joint between the supporting section <NUM> and the operation handles <NUM> is provided with a not-illustrated position detector that detects the positional relationship between the joints. The position detector is an encoder, a resolver, or a potentiometer, for example. The position detector thereby detects the positions of the operation handles <NUM> relative to the supporting section <NUM>.

The remote control apparatus <NUM> and patient-side system <NUM> constitute a master-slave system in terms of controlling motion of the instrument arms 201A and camera arm 201B. That is, the operation handles <NUM> constitute an operating part on the master side in the master-slave system, while the instrument arms 201A and the camera arm 201B grasping medical equipment constitute movement parts on the slave side. When the operator O operates the operation handles <NUM>, the motion of the instrument arms 201A or camera arm 201B is controlled so that the distal end parts (the end effectors of the instruments 201a) of the instrument arms 201A and the distal end part (the endoscope 201b) of the camera arm 201B move following the movement of the operation handles <NUM>.

The patient-side system <NUM> controls the motion of the instrument arms 201A in accordance with the set motion scaling ratio. When the motion scaling ratio is set to <NUM>/<NUM>, for example, the end effectors of the instruments 201a move <NUM>/<NUM> of the movement distance of the operation handles <NUM>. This allows for precise fine surgery. The operation handles <NUM> are attached to the base <NUM> and extend toward the operator O in the Y direction.

The operation pedal <NUM> includes pedals to be operable by the foot of the operator O. A specific function is assigned to each pedal. One of the functions is to input a switching instruction to switch an object to be controlled by the operation handles <NUM> among the instrument arms 201A and the camera arm 201B. Thus, when the operator wants to change a field of view during surgery, the operator operates the operation pedal <NUM> to change the object to be controlled by the operation handle <NUM> from the instrument arm 201A to the camera arm 201B, so that the operator can move the endoscope 201b by operating the operation handle <NUM>. After moving the endoscope 201b, the operator can operate the operation pedal <NUM> again to change the object to be controlled by the operation handle <NUM> from the camera arm 201B to the instrument arm 201A, so that the operator can return to continue the surgery. The operation pedal <NUM> is provided at a lower position where the operator can operate by the foot. The operation pedal <NUM> is configured to be movable in the Y direction.

Another function of the operation pedal <NUM> is to input an instruction for operations of the instruments 201a attached to the distal ends of the instrument arms 201A. For example, the operation pedal <NUM> can input an operation to cut the surgery site or coagulate the surgery site by the instrument 201a. For example, a voltage for cutting or a voltage for coagulating is applied to the instrument 201a by operating the operation pedal <NUM>.

The display <NUM> displays an image captured by the endoscope 201b. The display <NUM> may be a scope type display 3a or a non-scope type display 3b. The scope type display 3a is a display that the operator O looks into, for example. The non-scope type display 3b is a display including an open-type display that the operator O looks at without looking into and that has a flat screen, like a normal personal computer display. The scope and non-scope type displays 3a and 3b are selectively attachable to the remote control apparatus <NUM>. Specifically, as illustrated in <FIG>, the scope type display 3a includes a display 31a, a grip section <NUM>, and an attachment section <NUM>. As illustrated in <FIG>, the non-scope type display 3b includes a display 31b, a grip section <NUM>, and an attachment section <NUM>. The attachment section <NUM> of the scope or non-scope type display 3a or 3b is attachable to the mounting section <NUM> of the display supporting arm <NUM> of the remote control apparatus <NUM>. In other words, the scope or non-scope type display 3a or 3b mounted on the remote control apparatus <NUM> is configured to be supported by the display supporting arm <NUM>. This allows the remote control apparatus <NUM> to be used as either an immersive remote control apparatus or an open-type remote control apparatus. Thus, the remote control apparatus <NUM> is versatile in terms of the display <NUM>.

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

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

The display <NUM> include a terminal <NUM> as illustrated in <FIG>. The terminal <NUM> includes a terminal capable of transmitting video, such as a serial digital interface (SDI) terminal, an analogue component terminal, a high-definition multimedia interface (HDMI, registered trademark) terminal, or a universal serial bus (USB) terminal. The terminal <NUM> is connected to the control apparatus <NUM>. By connecting connection wire to the terminal <NUM>, the display <NUM> receives image information from the control apparatus <NUM>. By disconnecting the connection wire from the terminal <NUM>, the display <NUM> can be detached from the remote control apparatus <NUM>.

When the scope type display 3a is attached, 3D image captured by the endoscope 201b held by the camera arm 201B of the patient-side system <NUM> is displayed on the scope type display 3a. When the non-scope type display 3b is attached, 3D image captured by the endoscope 201b provided to the patient-side system <NUM> is displayed on the non-scope type display 3b. Note that in a case where the non-scope type display 3b is attached, 2D image captured by the endoscope 201b provided to the patient-side system <NUM> may be displayed on the non-scope type display 3b.

The scope type display 3a is a viewer that the operator O looks into. The scope type display 3a displays an image for the right eye and an image for the left eye of the operator O. The scope type display 3a is a stereoscope, for example. The display 31a includes a display for the right eye and a display for the left eye. When the operator O is looking into the display 31a, the display for the right eye cannot seen by the left eye while the display for the left eye cannot be seen by the right eye. The display 31a is composed of a liquid crystal display, an organic EL display, or the like. The display 31a may be a projection-type display.

The non-scope type display 3b is an open-type display that the operator O is able to see without looking into. The non-scope type display 3b is a direct-view-type display. The display 31b of the non-scope type display 3b includes a flat or curved screen. The display 31b can be a display with a diagonal of <NUM> to <NUM> inches, for example. Considering the balance between sufficient visibility of the surgical field and easy replacement, the display 31b suitably has a diagonal of <NUM> to <NUM> inches. The display 31b is composed of a liquid crystal display, an organic EL display, or the like. The display 31b can be a projection-type display. The non-scope type display 3b may employ a publicly-known stereoscopy in order for the operator O to stereoscopically view an image captured by the endoscope 201b, such as a method using polarization glasses or a method using active shutter glasses.

The grip section <NUM> is gripped when the display <NUM> is mounted, dismounted, or moved. The grip section <NUM> can be gripped with one hand. The grip section <NUM> has a grip, recessed, protrusion shape, or the like, for example. The grip section <NUM> is provided on a lateral side or back side of the display <NUM> so as not to interfere with viewing the display 31a (31b). The grip section <NUM> can be gripped with one hand, and the grip section <NUM> may include plural grip sections <NUM>. For example, the grip sections <NUM> may be provided on both sides of the display <NUM> as illustrated in <FIG>, for example, so that the operator O sitting in front of the display <NUM> can grip any grip section <NUM> with either the right or left hand.

The attachment section <NUM> is attached to the mounting section <NUM> of the display supporting arm <NUM>. That is, the mounting section <NUM> is detachably attached selectively to the scope or non-scope type display 3a or 3b. For example, the attachment section <NUM> includes an engagement section <NUM> as illustrated in <FIG> as a first example. The mounting section <NUM> includes a lock release button <NUM> and an engagement section <NUM>. As illustrated in <FIG>, in a fixed state, the engagement section <NUM> of the attachment section <NUM> is engaged with the engagement section <NUM> of the mounting section <NUM>, so that the attachment section <NUM> is locked to the mounting section <NUM> of the display supporting arm <NUM>. The display <NUM> is thereby fixed and supported by the display supporting arm <NUM>. In other words, the engagement sections <NUM> and <NUM> constitute a lock mechanism to fix the display <NUM> (the scope or non-scope type display 3a or 3b).

As illustrated in <FIG>, when the lock release button <NUM> is pressed down, the engagement section <NUM> moves and disengages from the engagement section <NUM>. Thus, the fixed state (the locked state) of the attachment section <NUM> with respect to the mounting section <NUM> is released. That is, the lock release button <NUM> functions as a lock release mechanism that releases the fixed state by the lock mechanism composed of the engagement sections <NUM> and <NUM>. The lock release mechanism is configured to release the fixed state by the lock mechanism, with a force downward in the vertical direction. The lock release mechanism thereby easily releases the fixed state by the lock mechanism.

As illustrated in <FIG>, the grip section <NUM> of the display <NUM> is operated upward in the vertical direction while the lock release mechanism is acting downward in the vertical direction, so that the display <NUM> is dismounted from the remote control apparatus <NUM>. In such a manner, the display <NUM> is dismounted by performing the releasing operation downward in the vertical direction and the operation of raising the grip section upward in the vertical direction, that produce forces in the opposite directions. The display <NUM> is therefore dismounted stably and safely. The display <NUM> is dismounted by being moved away from the display supporting arm <NUM> in the upward direction, thus the display <NUM> can be dismounted without being interfered with the operation handles <NUM> located underneath.

The lock mechanism and the lock release mechanism may have another configuration. For example, the lock mechanism and the lock release mechanism may be configured as illustrated in <FIG> as a second example. The attachment section <NUM> includes an engagement section <NUM> as the second example illustrated in <FIG>. The mounting section <NUM> includes an engagement section <NUM>. As illustrated in <FIG>, in the fixed state, the engagement section <NUM> of the attachment section <NUM> is engaged with the engagement section <NUM> of the mounting section <NUM>, so that the attachment section <NUM> is fixed to the mounting section <NUM> of the display supporting arm <NUM>. Specifically, the engagement section <NUM> pinches and grips the engagement section <NUM>, to engage with the engagement section <NUM>. The display <NUM> is thereby fixed to and supported by the display supporting arm <NUM>. In other words, the engagement sections <NUM> and <NUM> constitute the lock mechanism to fix the display <NUM> (the scope or non-scope type display 3a or 3b).

As illustrated in <FIG>, when the engagement section <NUM> is pressed on both sides, the pinching by the engagement section <NUM> is released, so that the engagement section <NUM> is disengaged from the engagement section <NUM>. Thus, the fixed state (the locked state) of the attachment section <NUM> with respect to the mounting section <NUM> is released. As illustrated in <FIG>, when the fixed state is released, the grip sections <NUM> is operated upward in the vertical direction to dismount the display <NUM> from the remote control apparatus <NUM>.

The lock mechanism and the lock release mechanism may have still another configuration. For example, the lock mechanism and the lock release mechanism may have a configuration illustrated in <FIG> as a third example. The attachment section <NUM> includes a notch <NUM> as the third example illustrated in <FIG>. The mounting section <NUM> includes a lock release button <NUM>, a fitting section <NUM>, and an engagement section <NUM>. As illustrated in <FIG>, the lock release button <NUM> is energized upward in the vertical direction by a spring or the like. The engagement section <NUM> is energized in a horizontal direction away from the fitting section <NUM>. The vertical movement of the lock release button <NUM> and the horizontal movement of the engagement section <NUM> work in conjunction with a gear and the like.

In the fixed state, the notch <NUM> of the attachment section <NUM> is engaged with the engagement section <NUM> of the mounting section <NUM>, so that the attachment section <NUM> is fixed to the mounting section <NUM> of the display supporting arm <NUM>. The display <NUM> is thereby fixed to and supported by the display supporting arm <NUM>. In other words, the notch <NUM> and engagement section <NUM> constitute a lock mechanism to fix the display <NUM> (the scope or non-scope type display 3a or 3b).

As illustrated in <FIG>, when the lock release button <NUM> is pressed down, the fitting section <NUM> moves downward. Along with this movements, the engagement section <NUM> moves toward the fitting section <NUM> and thus fits into the fitting section <NUM>. The notch <NUM> thereby disengages from the engagement section <NUM>. The attachment section <NUM> is thus unfixed (unlocked) from the mounting section <NUM>. In other words, the lock release button <NUM> functions as a lock release mechanism to release the fixed state by the lock mechanism composed of the notch <NUM> and engagement section <NUM>. The lock release mechanism releases the fixed state by the lock mechanism by the vertically downward force.

As illustrated in <FIG>, in the state where the fixed state is released, the grip section <NUM> of the display <NUM> is operated upward in the vertical direction to dismount the display <NUM> from the remote control apparatus <NUM>.

Having a lower-side larger than an upper-side in size, the engagement section <NUM> has a slope. When the attachment section <NUM> is pressed vertically downward against the mounting section <NUM>, the attachment section <NUM> comes into contact with the slope of the engagement section <NUM> and presses the engagement section <NUM> into the fitting section <NUM> in the horizontal direction. When the attachment section <NUM> moves to a predetermined position, the engagement section <NUM> fits into the notch <NUM> and is locked into the fixed state.

The display supporting arm <NUM> supports the display <NUM> as illustrated in <FIG>. The display supporting arm <NUM> includes the mounting section <NUM> and arm sections <NUM> and <NUM>. At an end of the display supporting arm <NUM>, the mounting section <NUM> is provided. The other end thereof is supported by a column <NUM>. The column <NUM> is fixed to a supporting section <NUM> of the supporting mechanism <NUM>. The display <NUM> is thus supported by the supporting section <NUM>. The display supporting arm <NUM> supports the mounting section <NUM> to be rotatable about the rotation axes A1, A2, and A3, which extend vertically. The mounting section <NUM> is supported by supporting members including vertical rotation axes so that the angle thereof is adjustable with three degrees of freedom. Specifically, the arm section <NUM> is supported so as to rotate in a horizontal plane around the rotation axis A1 relative to the column <NUM>. The arm section <NUM> is supported so as to rotate in a horizontal plane around the rotation axis A2 relative to the arm section <NUM>. The mounting section <NUM> is supported so as to rotate in a horizontal plane around the rotation axis A3 relative to the arm section <NUM>. With this, the display <NUM> mounted to the mounting section <NUM> can be moved in the horizontal direction, to locate the display <NUM> at a position desired by the operator O.

When the scope type display 3a is mounted on the remote control apparatus <NUM>, as illustrated in <FIG>, the scope type display 3a can tilt about a horizontal rotation axis B1, which is substantially orthogonal to the rotation axis A3. When the non-scope type display 3b is mounted on the remote control apparatus <NUM>, as illustrated in <FIG>, the non-scope type display 3b can tilt about a horizontal rotation axis B2, which is substantially orthogonal to the rotation axis A3. This allows adjustments of the angles of elevation and depression of the display <NUM> attached to the mounting section <NUM>. Note that the positioning of the display supporting arm <NUM> may be changed manually by the operator O or others or may be changed under movement control by a driver including a motor, an encoder, and a brake.

The armrest <NUM> is configured to support arms of the operator O. The armrest <NUM> includes an arm supporting section <NUM> and a pair of connecting sections <NUM>. The arm supporting section <NUM> is located in front (on the Y1 side) of the operation handles <NUM> and is configured to support the arms of the operator O. This stabilizes the arms of the operator O, so that the operator O can stably operate the operation handles <NUM>. Even when the end effectors need to be moved finely, the operator O performs stabilized operation with elbows and the like on the armrest <NUM>. The operator O feels less strain even in long surgery. The arm supporting section <NUM> extends in the X direction. The pair of connecting sections <NUM> are provided to both ends of the arm supporting section <NUM> so as to sandwich the arm supporting section <NUM> in the X direction. The connecting sections <NUM> is configured to support the arm supporting section <NUM>. The connecting sections <NUM> extend in the Y direction. The end of each connecting section <NUM> on the Y1 side is connected to the arm supporting section <NUM>. The ends of the connecting sections <NUM> on the Y2 side are connected to the supporting section <NUM> of the supporting mechanism <NUM>. The armrest <NUM> is thus supported by the supporting mechanism <NUM>. The connecting sections <NUM> extend upward from the back (the Y2 side) toward the front (the Y1 side). The connecting sections <NUM> can be therefore connected to the base <NUM> at the lower positions, which can stabilize the armrest <NUM>.

As illustrated in <FIG>, the control apparatus <NUM> includes, for example, a controller <NUM> includes a calculator such as a CPU or the like, a storage <NUM> including a memory, such as a ROM and a RAM, and an image controller <NUM>. The control apparatus <NUM> may be composed of a single controller performing centralized control or may be composed of plural controllers that perform decentralized control in cooperation with each other. The controller <NUM> determines whether the action mode instruction inputted by the operation handles <NUM> is to be executed by the instruments 201a or to be executed by the endoscope 201b, depending on the state of the operation pedal <NUM>. When it is determined that the action mode instruction inputted by the operation handles <NUM> is to be executed by the instruments 201a, the controller <NUM> transmits the action mode instruction to the instrument arm 201A. The instrument arms 201A are thereby driven for control of motions of the instruments 201a attached to the instrument arms 201A.

When it is determined that the action mode instruction inputted by the operation handles <NUM> is to be executed by the endoscope 201b, the controller <NUM> transmits the action mode instruction to the camera arm 201B. The camera arm 201B is thereby driven for control of motions of the endoscope 201b attached to the camera arm 201B.

The storage <NUM> stores control programs corresponding to the types of the instruments 201a, for example. The controller <NUM> reads the stored control programs according to the types of the attached instruments 201a. The action mode instructions from the operation handles <NUM> and/or the operation pedal <NUM> of the remote control apparatus <NUM> thereby causes the respective instruments 201a to perform proper motions.

The image controller <NUM> transmits an image acquired by the endoscope 201b to the terminal <NUM> of the display <NUM>. The image controller <NUM> modifies the image if necessary.

Here in a first embodiment, the remote control apparatus <NUM> is configured such that the operation handles <NUM> can be moved up and down, as illustrated in <FIG> and <FIG>. Specifically, the posture operation section <NUM> accepts an operation to move the operation handles <NUM> up or down. Based on the operation received by the posture operation section <NUM>, the supporting mechanism <NUM> moves the operation handles <NUM> up or down.

The supporting mechanism <NUM> includes the supporting section <NUM> and a driver <NUM>. The supporting section <NUM> supports the operation handles <NUM> and the armrest <NUM>. The supporting section <NUM> also supports the display <NUM> through the display supporting arm <NUM>. The driver <NUM> is configured to move the supporting section <NUM> up and down. To be specific, the driver <NUM> includes a motor and an encoder, for example, and moves the supporting section <NUM> up and down under control by the controller <NUM>. The supporting mechanism <NUM> may allow the operator O or others to manually change the positioning. In addition, the driver <NUM> of the supporting mechanism <NUM> may be driven pneumatically or hydraulically. The armrest <NUM> may be rotated relative to the supporting mechanism <NUM> for adjustment of the position. For example, the armrest <NUM> may be rotated around the rotation axis along the X direction.

In a first embodiment, the supporting mechanism <NUM> is configured to be transitionable between a first mode and a second mode. In the first mode (see <FIG>), the operation handles <NUM> which are positioned at a neutral position A0 of the operation range A are placed and held at a first height position H1, which is <NUM> or more above the floor surface on which the remote control apparatus <NUM> is installed. In the second mode (see <FIG>), the operation handles <NUM> which are positioned at the neutral position A0 of the operation range A are placed and held at a second height position H2, which is <NUM> or more below the first height position H1. With this configuration, when the operation handles <NUM> which are positioned at the neutral position A0 of the operation range A are located at the first height position H1 (<NUM> or more above the floor surface), the operator O is able to operate the operation handles <NUM> while standing up. When the operation handles <NUM> which are positioned at the neutral position A0 of the operation range A are located at the second height position H2 (<NUM> or more below the first height position H1), the operator O is able to operate the operation handles <NUM> while sitting down. Accordingly, the operator O is able to operate the remote control apparatus <NUM> in desired postures. In addition, since the operation handles <NUM> are supported by the supporting mechanism <NUM>, the operator O does not need to support the operation handles <NUM>. This suppresses an increase in strain on the operator O. The armrest <NUM> supporting the arms of the operator O further reduces the strain on the operator O and stabilizes the arms of the operator O. The operator O is therefore able to stably operate the operation handles <NUM>.

Further in a first embodiment, the supporting mechanism <NUM> is configured to be transitionable between a first mode (see <FIG>), in which the operation handles <NUM> are held so that the operation range A of the operation handles <NUM> is within a clean area set at a predetermined height position or more above the floor surface on which the remote control apparatus <NUM> is installed, and a second mode (see <FIG>), in which the operation handles <NUM> are held so that at least a part of the operation range A of the operation handles <NUM> is located below the clean area.

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

When the operation handles <NUM> are located so that the operation range A of the operation handles <NUM> is within the clean area set at the predetermined height or more above the floor surface, the operator O is able to operate the operation handles <NUM> while keeping his/her hands inside the clean area. Accordingly, if the operation handles <NUM> are cleaned, for example, the hands of the operator O is kept clean. When the operation handles <NUM> are held so that at least a part of the operation range A of the operation handles <NUM> is located below the clean area, the sitting operator O is able to operate the operation handles <NUM> at the low position. Therefore, the operator O is able to operate the remote control apparatus <NUM> in desired postures. In addition, the operation handles <NUM> are supported by the supporting mechanism <NUM>, and the operator O does not need to support the operation handles <NUM>. This can suppress an increase in strain on the operator O.

Further in a first embodiment, the supporting mechanism <NUM> is configured to allow for transition between a first mode (see <FIG>), in which the operation handles <NUM> are held at the position suitable for the operator O to operate the operation handles <NUM> while standing up and a second mode (see <FIG>) in which the operation handles <NUM> are held at the position suitable for the operator O to operate the operation handles <NUM> while sitting down. When the remote control apparatus <NUM> is set to the first mode, the operator O can operate the operation handles <NUM> while standing up. When the remote control apparatus <NUM> is set to the second mode, the operator O is able to operate the operation handles <NUM> while sitting down. The operator O is thus able to operate the remote control apparatus <NUM> in desired postures. In addition, the operation handles <NUM> are supported by the supporting mechanism <NUM>, and the operator O does not need to support the operation handles <NUM>. This can reduce an increase in strain on the operator O.

Further, the supporting mechanism <NUM> is configured to move both the operation handles <NUM> and the armrest <NUM> up and down between the first and second modes. Specifically, the supporting mechanism <NUM> is configured to integrally move the operation handles <NUM> and armrest <NUM> up and down between the first and second modes. This requires less components than that in the case where members for moving the operation handles <NUM> and the armrest <NUM> up and down are separately provided. It is therefore possible to simplify the apparatus configuration and suppress an increase in size of the apparatus. In addition, the supporting mechanism <NUM> is configured to also move the display <NUM> supported by the display supporting arm <NUM> up and down between the first and second modes. The supporting mechanism <NUM> is thus configured to integrally move the operation handles <NUM>, the armrest <NUM>, and the display <NUM> up and down between the first and second modes.

In other words, the supporting mechanism <NUM> supports the display <NUM> that displays an image captured by the endoscope 201b and supports the display <NUM> so that the position of the display <NUM> relative to the operation handles <NUM> is changeable in each of the first and second modes. To be specific, the position of the display <NUM> is moved relative to the operation handles <NUM> by the display supporting arm <NUM> supported by the supporting mechanism <NUM>. The position of the display <NUM> relative to the operation handles <NUM> can be therefore changed according to the physique and posture of the operator O. This can increase the versatility of the display <NUM>.

The posture operation section <NUM> is configured to accept operations to move the operation handles <NUM>, the display <NUM> supported by the display supporting arm <NUM>, and the armrest <NUM> up and down. The posture operation section <NUM> is also configured to accept operations to move the operation pedal <NUM> forward and backward (in the Y direction). The posture operation section <NUM> thus accepts operations to transform the remote control apparatus <NUM> between first and second postures.

In other words, the posture operation section <NUM> is an operating section capable of inputting a posture change instruction to change the posture of the remote control apparatus <NUM> between the standing position (first posture) and the sitting position (second posture). The posture operation section <NUM> includes plural operation buttons.

The supporting mechanism <NUM> is configured to move up and down, the operation handles <NUM>, the display <NUM> supported by the display supporting arm <NUM>, and the armrest <NUM>. The driver <NUM> of the supporting mechanism <NUM> includes a motor and an encoder, for example and is driven based on instructions from the posture operation section <NUM>. That is, the supporting mechanism <NUM> is configured to move, in response to the posture change instruction inputted through the posture operation section <NUM>, the operation handles <NUM> between the first mode and the second mode. The driver <NUM> is supported on the base <NUM>. The driver <NUM> is provided near the Y2-side end of the base <NUM> in the front-back direction (in the Y direction) and is located at the substantially center of the base <NUM> in the right-left direction (in the X direction). The handles <NUM>, the display <NUM> supported by the display supporting arm <NUM>, and the armrest <NUM> may be independently moved up and down by the supporting mechanism <NUM>.

In the first mode, the supporting mechanism <NUM> preferably holds the operation handles <NUM> positioned at the neutral position A0 of the operation range A, at a first height position H1 of <NUM> or more above the floor surface on which the remote control apparatus <NUM> is installed. In the second mode, the supporting mechanism <NUM> preferably holds the operation handles <NUM> positioned at the neutral position A0 of the operation range A, at a second height position H2, which is <NUM> or more below the first height position H1.

Further the remote control apparatus is configured to disable operations of the surgical manipulator <NUM> through the operation handles <NUM> at transformation between the first and second modes. To be specific, during transformation between the first and second modes, operation by the operation handles <NUM> is disabled, or transmission of action mode instructions is disabled. In other words, during transformation between the first and second modes, the controller <NUM> does not transmit an action mode instruction to the surgical manipulator <NUM> even if the action mode instruction is transmitted from the operation handles <NUM>. This prevents the surgical manipulator <NUM> from moving when the operation handles <NUM> are operated accidentally during transformation between the first and second modes.

As illustrated in <FIG>, when the remote control apparatus <NUM> is in the standing position (the first posture), the operation handles <NUM> are positioned at a height suitable for the standing operator O to grip the operation handles <NUM> positioned at the neutral position A0 with the arms bent at substantially right angles. The display <NUM> is positioned at a height suitable for the standing operator O to look at the display <NUM>. For example, in a case where the scope type display 3a is mounted, the scope type display 3a is set at the same height as the eyes of the operator O.

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

When the remote control apparatus <NUM> is in the standing position (the first posture), the operation pedal <NUM> is moved to a position P1 in the front side (in the Y1 side) of the remote control apparatus <NUM>. In other words, the operation pedal <NUM> is located to such a position that the standing operator O reaches the operation pedal <NUM> with his/her foot while touching the operation handles <NUM> with his/her hands.

As illustrated in <FIG>, when the remote control apparatus <NUM> is in the sitting position (the second posture). The operation handles <NUM> are positioned at a height suitable for the operator O sitting in the chair to grip the operation handles <NUM> positioned at the neutral position A0 with his/her arms bent at substantially right angles. In addition, the display <NUM> is positioned at a height position suitable for the operator O sitting in the chair to look at the display <NUM>. For example, when the scope type display 3a is mounted, the scope type display 3a is set at the same height as the eyes of the operator O. With the remote control apparatus <NUM>, the operator O can execute surgery while sitting down in a long surgery. This can reduce fatigue of the operator O.

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

When the remote control apparatus <NUM> is in the sitting position (the second posture), the operation pedal <NUM> is moved to a position P2 in the back side (in the Y2 side) of the remote control apparatus <NUM>. In other words, the operation pedal <NUM> is located to such a position that the sitting operator O reaches the operation pedal <NUM> with his/her feet while touching the operation handles <NUM> with his/her hands. For example, the operation pedal <NUM> is configured to be movable forward and backward by <NUM> or more (in the Y direction). Preferably, the operation pedal <NUM> is configured to be movable forward and backward by <NUM> or more (in the Y direction). With this, the operation pedal <NUM> can be easily located to the positions suitable for the first and second postures.

Specific dimensions and the like of the remote control apparatus <NUM> are designed using measurement data described in "<NPL>)".

The remote control apparatus <NUM> may be designed with reference to JIS standards. For example, "JIS Z8503-<NUM>: <NUM> (ISO <NUM>-<NUM>: <NUM>), Ergonomic design of control centers, Part <NUM>: Layout and dimensions of workstations" prescribes use of the 5th and 95th percentile human models.

The operation range A is defined as a region between <NUM> above and below the neutral position A0. That is, the dimension of the operation range A in the height direction is defined as <NUM>. The operation range A is defined based on the dimensions of the motion range of surgical tools set to keep good operability of the surgical tools at laparoscopic surgery and the motion scaling ratio of the operation handles <NUM>. The set motion range of the surgical tools has a dimension of <NUM> in the height direction, and the motion scaling ratio of the operation handles <NUM> is <NUM>/<NUM>. The dimension of the operation range A in the height direction is therefore <NUM> based on the dimension of the motion range of the surgical tools in the height direction and the motion scaling ratio of the operation handles <NUM>.

<FIG> illustrates a model of large operators O1, and <FIG> illustrates a model of small operators O2.

In <FIG>, the model of the large operators O1 is based on body data of German men. When the fifth largest model among <NUM> German male models selected at random stands and grips the operation handles <NUM> positioned at the neutral position A0 of the operation range A with his arms bent at right angles, the height position of the operation handles <NUM> is about <NUM>, and the lower and upper limits of the height position of the operation range A are about <NUM> and <NUM>, respectively. On the other hand, when the fifth largest model sits down and grips the operation handles <NUM> positioned at the neutral position A0 of the operation range A with his arms bent at right angles, the height position of the operation handles <NUM> is about <NUM>, and the lower and upper limits of the height position of the operation range A are about <NUM> and about <NUM>, respectively.

In <FIG>, the model of the small operators O2 is based on body data of Japanese women. When the fifth smallest model among <NUM> Japanese female models selected at random stands and grips the operation handles <NUM> positioned at the neutral position A0 of the operation range A with her arms bent at right angles, the height position of the operation handles <NUM> is about <NUM>, and the lower and upper limits of the height position of the operation range A are about <NUM> and about <NUM>, respectively. On the other hand, when the fifth smallest model sits down and grips the operation handles <NUM> positioned at the neutral position A0 of the operation range A with her arms bent at right angles, the height position of the operation handles <NUM> is about <NUM>, and the lower and upper limits of the height position of the operation range A are about <NUM> and about <NUM>, respectively.

Based on the aforementioned data, the height position of the operation handles <NUM> that allows plural operators O having different types of physique to take standing and sitting positions without any problem is as follows. First, the height position of the operation handles <NUM> positioned at the neutral position A0 of the operation range A in the standing position mode (the first mode) is preferably set to about <NUM> or more corresponding to the standing model of the small operators O2. This allows most operators O to comfortably operate the operation handles <NUM> while standing. With this, regarding the operation handles <NUM> configured to move down by <NUM> from the neutral position A0, the lower limit of the height position of the operation range A of the operation handles <NUM> in the standing position mode is <NUM> or more as described above.

Further, the height position of the operation handles <NUM> positioned at the neutral position A0 in the standing position mode (the first mode) is preferably set to about <NUM> or more. With this, regarding the operation handles <NUM> configured to move down by <NUM> from the neutral position A0, the lower limit of the height position of the operation range A of the operation handles <NUM> in the standing position mode is higher than <NUM>, and the operation range A of the operation handles <NUM> is therefore within the clean area. Since the lower limit of the height position of the operation range A corresponding to the standing model of the small operators O2 is about <NUM>, setting the lower limit of the height position of the operation range A to <NUM> allows more operators O having different types of physiques to comfortably operate the operation handles <NUM> while standing up.

Next, the height position of the operation handles <NUM> positioned at the neutral position A0 of the operation range A in the sitting position mode (the second mode) is preferably set to about <NUM> or more corresponding to the sitting model of the small operators O2. This allows most operators O to comfortably operate the operation handles <NUM> while sitting down.

Next, the displacement (adjustment width) of the height position of the operation handles <NUM> at transition of the remote control apparatus <NUM> between the standing position mode and the sitting position mode is preferably set to about <NUM> or more. This is the difference between the height (about <NUM>) of the operation handles <NUM> positioned at the neutral position A0 corresponding to the standing model of the small operators O2 and the height (about <NUM>) of the operation handles <NUM> positioned at the neutral position A0 corresponding to the sitting model of the small operators O2.

In addition, the displacement of the height position of the operation handles <NUM> at transition of the remote control apparatus <NUM> between the standing position mode and the sitting position mode is preferably set to about <NUM> or more. This is the difference between the height (about <NUM>, the maximum height of the operation handles <NUM> positioned at the neutral position A0 in the standing position mode in this example) of the operation handles <NUM> positioned at the neutral position A0 corresponding to the standing model of the large operators O1 and the height (about <NUM>) of the operation handles <NUM> positioned at the neutral position A0 corresponding to the sitting model of the large operators O1.

As described above, the adjustment width of the height position of the operation handles <NUM> at transition between the standing position mode and the sitting position mode is greater than the adjustment width desirably set so as to fit to the different types of physique of the operators O in the standing position mode (about <NUM> as the difference between the height position of the operation handles <NUM> positioned at the neutral position A0, corresponding to the model of the large operators O1 and the height position of the operation handles <NUM> positioned at the neutral position A0, corresponding to the model of the small operators O2, for example) and the adjustment width desirably set so as to fit to the different types of physique of the operators O in the sitting position mode (about <NUM> as the difference between the height position of the operation handles <NUM> positioned at the neutral position A0 corresponding to the model of the large operators O1 and the height position of the operation handles <NUM> positioned at the neutral position A0 corresponding to the model of the small operators O2, for example).

Note that if the positions of the operation handles <NUM> are set higher than about <NUM> (the height position of the operation handles <NUM> positioned at the neutral position A0 corresponding to the standing model of the large operators O1), the above-described adjustment width is further increased. It is then preferable that the adjustment width is <NUM> or more from the height position of the operation handles <NUM> in the standing position mode. Furthermore, the displacement of the height position of the operation handles <NUM> at transition of the remote control apparatus <NUM> between the standing position mode and the sitting position mode is preferably set to about <NUM> or more, which is the difference between the height (about <NUM>) of the operation handles <NUM> positioned at the neutral position A0 corresponding to the standing model of the large operators O1 and the height (about <NUM>) of the operation handles <NUM> positioned at the neutral position A0 corresponding to the sitting model of the small operators O2. As for definition of the operation range A, the design of the operation range A may be modified by considering the size of the operation handles <NUM> and the like. Although the vertical width of the operation range A is assumed to be <NUM>, the vertical width thereof may be set to <NUM>, <NUM>, or <NUM>, for example.

Next, with reference to <FIG>, a second embodiment of the invention is described. In a second embodiment, description is given of an example of the configuration of a remote control apparatus including plural displays, which is different from a first embodiment in which the remote control apparatus includes one display.

As illustrated in <FIG>, a remote control apparatus <NUM> according to a second embodiment includes plural displays <NUM>. In the example illustrated in <FIG>, both the scope type display 3a and non-scope type display 3b as the displays <NUM> are mounted on the remote control apparatus <NUM>. The two displays <NUM> are placed side by side in the right-left direction (in the X direction).

In other words, the remote control apparatus <NUM> includes plural (two) mounting sections <NUM>. Specifically, the remote control apparatus <NUM> includes plural (two) display supporting arms <NUM>. The mounting sections <NUM> are provided at the distal ends of the respective display supporting arms <NUM>. This allows both of the scope and non-scope type displays 3a and 3b to be mounted on the remote control apparatus <NUM>, thus effectively increasing the versatility of the displays <NUM>.

Here in a second embodiment, the supporting mechanism <NUM> is configured to be transitionable between the first mode and the second mode. In the first mode, the operation handles <NUM> which are positioned at the neutral position A0 of the operation range A are placed and held at the first height position H1, which is <NUM> or more above the floor surface on which the remote control apparatus <NUM> is installed. In the second mode, the operation handles <NUM> which are positioned at the neutral position A0 of the operation range A are placed and held at the second height position H2, which is <NUM> or more below the first height position H1. In other words, the supporting mechanism <NUM> is configured to be transitionable between the first mode in which the operation handles <NUM> are held such that the operation range A of the operation handles is positioned within the clean area set at the predetermined height position or more above the floor surface on which the remote control apparatus <NUM> is installed, and the second mode in which the operation handles <NUM> are held such that t at least a part of the operation range A of the operation handles <NUM> is located below the clean area. That is, the supporting mechanism <NUM> is configured to be transitionable between the first mode in which the operation handles <NUM> are held in the position suitable for the operator O to operate the operation handles in the standing posture and the second mode in which the operation handles <NUM> are held in the position suitable for the operator O to operate the operation handles <NUM> in the sitting posture. With this configuration, the operator O can operate the remote control apparatus <NUM> in desired postures. Further, since the operation handles <NUM> are supported by the supporting mechanism <NUM>, the operator O does not need to support the operation handles <NUM>. This can suppress increase of the burden on the operator O. Further, the armrest <NUM> to support the arms of the operator can reduce the burden on the operator O and stabilize the arm of the operator O. The operator O is therefore able to stably operate the operation handles <NUM>.

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

As described above, the remote control apparatus <NUM> according to a second embodiment is configured such that the scope or non-scope type display 3a or 3b is selectively and detachably mounted as a main display <NUM> and the non-scope type display 3b is mounted on the remote control apparatus <NUM> as an auxiliary display. With this configuration, the operator O can select one of the immersive remote control apparatus and the open-type remote control apparatus and look at the auxiliary information during surgery. Since the remote control apparatus <NUM> is provided with the plural mounting sections, it is possible to freely select on which side the main display is installed.

In the example of <FIG>, the scope type display 3a and non-scope type display 3b are attached to the two mounting sections <NUM>. However, the scope type display 3a may be attached to each of the two mounting sections <NUM>, or the non-scope type display 3b may be attached to each of the two mounting sections <NUM>.

Note that the other configurations according to a second embodiment are the same as or similar to those of a first embodiment.

Next, with reference to <FIG>, a third embodiment of the invention is described. In a third embodiment, description is given of a configuration example in which a display apparatus is provided separately from a remote control apparatus, which is different from first and second embodiments in which the remote control apparatus includes the display.

In a third embodiment, as illustrated in <FIG>, a display apparatus <NUM> is provided separately from a remote control apparatus <NUM>. That is, a display is not attached to the remote control apparatus <NUM>. In addition, the remote control apparatus <NUM> does not include a display supporting arm that is configured to support a display. The remote control apparatus <NUM> and the display apparatus <NUM> provided outside of the remote control apparatus <NUM> constitute a remote control system <NUM>. The configuration of the remote control apparatus <NUM> is thereby simplified.

In a third embodiment, the supporting mechanism <NUM> is configured to be transitionable between the first mode and the second mode. In the first mode, the operation handles <NUM> which are positioned at the neutral position A0 of the operation range A are placed and held at the first height position H1, which is <NUM> or more above the floor surface on which the remote control apparatus <NUM> is installed. In the second mode, the operation handles <NUM> which are positioned at the neutral position A0 of the operation range A are placed and held at the second height position H2, which is <NUM> or more below the first height position H1. In other words, the supporting mechanism <NUM> is configured to be transitionable between the first mode in which the operation handles <NUM> are held such that the operation range A of the operation handles is positioned within the clean area set at the predetermined height position or more above the floor surface on which the remote control apparatus <NUM> is installed, and the second mode in which the operation handles <NUM> are held such that t at least a part of the operation range A of the operation handles <NUM> is located below the clean area. That is, the supporting mechanism <NUM> is configured to be transitionable between the first mode in which the operation handles <NUM> are held in the position suitable for the operator O to operate the operation handles in the standing posture and the second mode in which the operation handles <NUM> are held in the position suitable for the operator O to operate the operation handles <NUM> in the sitting posture. With this configuration, the operator O can operate the remote control apparatus <NUM> in desired postures. Further, since the operation handles <NUM> are supported by the supporting mechanism <NUM>, the operator O does not need to support the operation handles <NUM>. This can suppress increase of the burden on the operator O. Further, the armrest <NUM> to support the arms of the operator can reduce the burden on the operator O and stabilize the arms of the operator O. The operator O is therefore able to stably operate the operation handles <NUM>.

The supporting mechanism <NUM> is configured to move both of the operation handle <NUM> and the armrest 5a in the upward direction and the downward direction between the first mode and the second mode.

The connecting sections <NUM> of the armrest <NUM> has a shape extending substantially in the horizontal direction (the Y direction). This can ensure an appropriate size of a legroom for the feet of the operator O.

The display apparatus <NUM> is installed in front (on the Y2 side) of the remote control apparatus <NUM>. That is, the display apparatus <NUM> is placed in such a position that the operator O who is operating the remote control apparatus <NUM> is able to look at the screen. The display apparatus <NUM> includes a display apparatus such as a liquid crystal display, an organic EL display, or a plasma display, and displays 2D or 3D images captured by the endoscope 201b. The display apparatus <NUM> may display at least one of a previously acquired image of the surgery site, information representing the surgery state, and operation information. For example, the display apparatus <NUM> displays X-ray images or magnetic resonance images previously acquired.

Note that the other configurations according to a third embodiment are the same as or similar to those of a first embodiment.

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

For example, the aforementioned first and second embodiments disclose examples of the configuration in the connecting sections <NUM> of the armrest <NUM> extends upwardly toward the front (the side where the operator O is located, in the Y1 direction). The aforementioned third embodiment disclose an example of the configuration in the connecting sections <NUM> of the armrest 5a extend in the horizontal direction. However, the invention is not limited to those examples. For example, as illustrated in a modification of <FIG>, the connecting sections <NUM> of an armrest 5b may extend downwardly toward the front. This forms a large space at the feet of the operator O.

The aforementioned first to third embodiments disclose examples of the configuration in which the one supporting mechanism <NUM> is provided substantially at the center of the remote control apparatus in in the right-left direction (the X direction), to move the operation handles <NUM> and armrest <NUM> up and down. However, the invention is not limited to those examples. As illustrated in the modification of <FIG>, a supporting mechanism 9a that supports the operation handles <NUM> and the armrest <NUM> may be provided at both ends of a remote control apparatus <NUM> in the right-left direction (the X direction). For example, the supporting mechanism 9a may include a supporting section 91a and a pair of drivers 92a that is arranged at the right and left ends and supports the supporting section 91a. The pair of drivers 92a expand and contract in synchronization to move the supporting section 91a up and down.

The aforementioned first embodiment discloses an example of the configuration in which the remote control apparatus <NUM> is provided with one mounting section <NUM> to which the display <NUM> is attachable. The aforementioned second embodiment discloses an example of the configuration in which the remote control apparatus is provided with the two mounting sections <NUM> to which the displays <NUM> are attachable. The invention is not limited to those examples. For example, the remote control apparatus may be provided with three or more mounting sections <NUM>.

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

Claim 1:
A remote control apparatus having a front side and a back side comprising:
a display (<NUM>) configured to display an image captured by an endoscope (201b);
an operation handle (<NUM>) configured to be movable within a predetermined operation range and to remotely operate medical equipment (201a, 201b);
an armrest (<NUM>) that includes:
an arm supporting section (<NUM>) configured to support arms of an operator (O); and
a pair of connecting sections (<NUM>) connected to the arm supporting section and extending in the front-back direction; and
a supporting mechanism (<NUM>) that includes:
a supporting section (<NUM>) supporting the display, the operation handle, and the armrest; and
a driver (<NUM>) configured to move the supporting section in an up-and-down direction, wherein
the operation handle is arranged extending from the back side toward the front side,
the arm supporting section is located in the front side of the operation handle,
the supporting mechanism is configured to be transitionable between a first mode in which the operation handle is held at a position suitable for the operator to operate the operation handle in a standing posture and a second mode in which the operation handle is held at a position suitable for the operator to operate the operation handle in a sitting posture, and
the supporting mechanism moves, upon transitioning between the first mode and the second mode, the supporting section in the up-and-down direction by the driver to move the display, the operation handle, and the armrest in an integrated manner in the up-and-down direction.