Medical safety control apparatus, medical safety control method, and medical support system
A medical safety control apparatus that includes processing circuitry that obtains a surgical instrument-biological tissue distance, determine whether the surgical instrument-biological tissue distance is greater than a predetermined first restricted distance, in response to determining that the surgical instrument-biological tissue distance is not greater than the predetermined first restricted distance, issues an instruction for stopping a motion of an arm of a support arm apparatus that supports the surgical instrument, in response to determining that the surgical instrument-biological tissue distance is greater than the predetermined first restricted distance, determines whether the surgical instrument-biological tissue distance is greater than a predetermined second restricted distance, and in response to determining that the surgical instrument-biological tissue distance is not greater than the predetermined second restricted distance, issues a first instruction for restricting a motion speed of the arm.
1. A medical safety control apparatus, comprising:
processing circuitry configured to
obtain a surgical instrument-biological tissue distance, which is a distance between a surgical instrument and a biological tissue of a patient, the surgical instrument-biological tissue distance being detected while a treatment is being performed on the biological tissue by the surgical instrument, the surgical instrument being an endoscope having a lens tube;
determine whether the surgical instrument-biological tissue distance is greater than a predetermined first restricted distance in an advancement region, the advancement region being a cylindrical region in an advancement direction of the lens tube, the cylindrical region having a diameter that is larger than an outer diameter of the lens tube;
in response to determining that the surgical instrument-biological tissue distance is not greater than the predetermined first restricted distance in the advancement region, issue an instruction for stopping a motion of an arm of a support arm apparatus that supports the surgical instrument, or an instruction for causing the arm to execute a retracting motion by which the surgical instrument moves away from the biological tissue;
in response to determining that the surgical instrument-biological tissue distance is greater than the predetermined first restricted distance in the advancement region, determine whether the surgical instrument-biological tissue distance is greater than a predetermined second restricted distance in the advancement region, the second restricted distance being greater than the first restricted distance;
in response to determining that the surgical instrument-biological tissue distance is not greater than the predetermined second restricted distance in the advancement region, issue a first instruction for restricting a motion speed of the arm;
in response to determining that the surgical instrument-biological tissue distance is greater than the predetermined second restricted distance in the advancement region, determine whether the surgical instrument-biological tissue distance is greater than the predetermined first restricted distance in a peripheral region, the peripheral region being a hollow cylindrical region surrounding a periphery of the advancement region; and
in response to determining that the surgical instrument-biological tissue distance is not greater than the predetermined first restricted distance in the peripheral region, issue a second instruction for restricting the motion speed of the arm.
2. The medical safety control apparatus according to claim 1 , wherein
the processing circuitry is configured to issue the first instruction for restricting the motion speed of the arm to a predetermined value or less, and
the predetermined value changes according to the surgical instrument-biological tissue distance.
3. The medical safety control apparatus according to claim 1 , wherein
in the retracting motion, the surgical instrument moves backward along a path on which the surgical instrument has advanced.
4. The medical safety control apparatus according to claim 1 , wherein
the processing circuitry is configured to issue an instruction for issuing a warning based on the surgical instrument-biological tissue distance.
5. The medical safety control apparatus according to claim 4 , wherein
the warning is set in stages according to the surgical instrument-biological tissue distance.
6. The medical safety control apparatus according to claim 1 , wherein
the endoscope is configured as a stereo camera, and
the surgical instrument-biological tissue distance is detected on a basis of a captured image by the endoscope.
7. The medical safety control apparatus according to claim 6 , wherein
the processing circuitry is configured to:
obtain a two-dimensional distribution of the surgical instrument-biological tissue distance in a plane approximately perpendicular to an advancement direction of the surgical instrument; and
issue a motion-restricting instruction for restricting the motion of the arm based on the surgical instrument-biological tissue distance in each of multiple regions set in the advancement direction of the surgical instrument.
8. The medical safety control apparatus according to claim 1 , wherein
the surgical instrument-biological tissue distance is detected by a distance measurement sensor provided on a front end of the surgical instrument.
9. The medical safety control apparatus according to claim 1 , wherein
the surgical instrument-biological tissue distance is detected by a distance detection section provided at a position where the surgical instrument and the biological tissue are observable.
10. The medical safety control apparatus according to claim 1 , wherein
a condition that stipulates a restriction on the motion of the arm is set in accordance with input from a user.
11. The medical safety control apparatus according to claim 10 , wherein
the input from the user is executed by at least one of speech of the user, a movement of a gaze of the user, a movement of a head of the user, and a gesture of the user.
12. The medical safety control apparatus according to claim 1 , wherein
the processing circuitry is configured to perform a power assist control, in which the arm is driven by an actuator in response to an external force imparted to the arm by a user.
13. A medical safety control method comprising:
obtaining a surgical instrument-biological tissue distance, which is a distance between a surgical instrument and a biological tissue of a patient, the surgical instrument-biological tissue distance being detected while a treatment is being performed on the biological tissue by the surgical instrument, the surgical instrument being an endoscope having a lens tube;
determining, using processing circuitry, whether the surgical instrument-biological tissue distance is greater than a predetermined first restricted distance in an advancement region, the advancement region being a cylindrical region in an advancement direction of the lens tube, the cylindrical region having a diameter that is larger than an outer diameter of the lens tube;
in response to determining that the surgical instrument-biological tissue distance is not greater than the predetermined first restricted distance in the advancement region, issuing an instruction for stopping a motion of an arm of a support arm apparatus that supports the surgical instrument, or an instruction for causing the arm to execute a retracting motion by which the surgical instrument moves away from the biological tissue;
in response to determining that the surgical instrument-biological tissue distance is greater than the predetermined first restricted distance in the advancement region, determining, using the processing circuitry, whether the surgical instrument-biological tissue distance is greater than a predetermined second restricted distance in the advancement region, the second restricted distance being greater than the first restricted distance;
in response to determining that the surgical instrument-biological tissue distance is not greater than the predetermined second restricted distance in the advancement region, issuing a first instruction for restricting a motion speed of the arm;
in response to determining that the surgical instrument-biological tissue distance is greater than the predetermined second restricted distance in the advancement region, determining, using the processing circuitry, whether the surgical instrument-biological tissue distance is greater than the predetermined first restricted distance in a peripheral region, the peripheral region being a hollow cylindrical region surrounding a periphery of the advancement region; and
in response to determining that the surgical instrument-biological tissue distance is not greater than the predetermined first restricted distance in the peripheral region, issuing a second instruction for restricting the motion speed of the arm.
14. A medical support system comprising:
a support arm apparatus that supports a surgical instrument with an arm; and
processing circuitry configured to
control a driving of the support arm apparatus;
obtain a surgical instrument-biological tissue distance, which is a distance between the surgical instrument and a biological tissue of a patient, the surgical instrument-biological tissue distance being detected while a treatment is being performed on the biological tissue by the surgical instrument, the surgical instrument being an endoscope having a lens tube;
determine whether the surgical instrument-biological tissue distance is greater than a predetermined first restricted distance in an advancement region, the advancement region being a cylindrical region in an advancement direction of the lens tube, the cylindrical region having a diameter that is larger than an outer diameter of the lens tube;
in response to determining that the surgical instrument-biological tissue distance is not greater than the predetermined first restricted distance in the advancement region, issue an instruction for stopping a motion of the arm of the support arm apparatus that supports the surgical instrument, or an instruction for causing the arm to execute a retracting motion by which the surgical instrument moves away from the biological tissue;
in response to determining that the surgical instrument-biological tissue distance is greater than the predetermined first restricted distance in the advancement region, determine whether the surgical instrument-biological tissue distance is greater than a predetermined second restricted distance in the advancement region, the second restricted distance being greater than the first restricted distance;
in response to determining that the surgical instrument-biological tissue distance is not greater than the predetermined second restricted distance in the advancement region, issue a first instruction for restricting a motion speed of the arm;
in response to determining that the surgical instrument-biological tissue distance is greater than the predetermined second restricted distance in the advancement region, determine whether the surgical instrument-biological tissue distance is greater than the predetermined first restricted distance in a peripheral region, the peripheral region being a hollow cylindrical region surrounding a periphery of the advancement region; and
in response to determining that the surgical instrument-biological tissue distance is not greater than the predetermined first restricted distance in the peripheral region, issue a second instruction for restricting the motion speed of the arm.