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:
an arm that supports an endoscope including a stereo camera; and
processing circuitry configured to
calculate an endoscope-biological tissue distance, which is a distance between the endoscope and a biological tissue of a patient, based on an image captured by the endoscope,
calculate a distribution of the endoscope-biological tissue distance in a plane approximately perpendicular to an advancement direction of the endoscope,
determine an advancement region within the distribution, the advancement region being a region in an advancement direction of the endoscope,
determine a peripheral region within the distribution, the peripheral region being a hollow cylindrical region surrounding a periphery of the advancement region, and
issue a motion-restricting instruction for restricting a motion of the arm based on the distribution of the endoscope-biological tissue distance within the advancement region and the peripheral region, wherein
the processing circuitry issues a first motion-restricting instruction to restrict the motion of the arm to a first motion speed in a first case where the endoscope is in the peripheral region and the endoscope-biological tissue distance is a first distance,
the processing circuitry issues a second motion-restricting instruction to restrict the motion of the arm to a second motion speed in a second case where the endoscope is in the advancement region and the endoscope-biological tissue distance is the first distance, the first motion speed being higher than the second motion speed.
2. The medical safety control apparatus according to claim 1 , wherein
the processing circuitry is configured to issue an instruction for stopping the motion of the arm as the motion-restricting instruction in a case where the endoscope-biological tissue distance is a predetermined first restricted distance or less.
3. The medical safety control apparatus according to claim 2 , wherein
the processing circuitry is configured to issue an instruction for restricting a motion speed of the arm to a predetermined value or less as the motion-restricting instruction in a case where the endoscope-biological tissue distance is a predetermined second restricted distance or less, the second restricted distance being greater than the first restricted distance.
4. The medical safety control apparatus according to claim 3 , wherein
the predetermined value changes according to the endoscope-biological tissue distance.
5. The medical safety control apparatus according to claim 1 , wherein
the processing circuitry is configured, to issue an instruction for causing the arm to execute a retracting motion by which the endoscope moves away from the biological tissue as the motion-restricting instruction in a case where the endoscope-biological tissue distance is a predetermined first restricted distance or less.
6. The medical safety control apparatus according to claim 5 , wherein
in the retracting motion, the endoscope moves backward along a path on which the endoscope has advanced.
7. 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 endoscope-biological tissue distance.
8. The medical safety control apparatus according to claim 7 , wherein
the warning is set in stages according to the endoscope-biological tissue distance.
9. 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.
10. The medical safety control apparatus according to claim 9 , 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.
11. 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 in response to an external force imparted to the arm by a user, with respect to the arm.
12. The medical safety control apparatus according to claim 1 , wherein
the processing circuitry is configured to control display of the distribution of the endoscope-biological tissue distance on a display.
13. The medical safety control apparatus according to claim 12 , wherein
the processing circuitry is configured to control display of the distribution of the endoscope-biological tissue distance by displaying the image captured by the endoscope with different expressions according to each of the endoscope-biological tissue distance for each area of the image.
14. The medical safety control apparatus according to claim 1 , wherein
the processing circuitry is configured not to issue the motion-restricting instruction for restricting the motion of the arm based on the distribution of the endoscope-biological tissue distance outside the advancement region.
15. The medical safety control apparatus according to claim 1 , wherein
the advancement region is a cylindrical region in the advancement direction of a lens tube of the endoscope, the cylindrical region having a diameter that is larger than an outer diameter of the lens tube.
16. The medical safety control apparatus according to claim 1 , wherein
the processing circuitry is configured to:
issue a first instruction for stopping the motion of the arm as the motion-restricting instruction in a case where the endoscope-biological tissue distance is a predetermined first restricted distance or less in the advancement region; and
issue a second instruction for restricting a motion speed of the arm to a predetermined value or less as the motion-restricting instruction in a case where the endoscope-biological tissue distance is the predetermined first restricted distance or less in the peripheral region.
17. The medical safety control apparatus according to claim 16 , wherein
the processing circuitry is configured, to issue the second instruction for restricting the motion speed of the arm to the predetermined value or less as the motion-restricting instruction in a case where the endoscope-biological tissue distance is a predetermined second restricted distance or less, the second restricted distance being greater than the first restricted distance.
18. A medical safety control method, comprising:
calculating, using processing circuitry, an endoscope-biological tissue distance, which is a distance between an endoscope and a biological tissue of a patient, based on an image captured by the endoscope, the endoscope including a stereo camera;
calculating, using the processing circuitry, a distribution of the endoscope-biological tissue distance in a plane approximately perpendicular to an advancement direction of the endoscope;
determining an advancement region within the distribution, the advancement region being a region in an advancement direction of the endoscope;
determining a peripheral region within the distribution, the peripheral region being a hollow cylindrical region surrounding a periphery of the advancement region; and
issuing a motion-restricting instruction for restricting a motion of an arm that supports the endoscope based on the distribution of the endoscope-biological tissue distance within the advancement region and the peripheral region, wherein
the issuing issues a first motion-restricting instruction to restrict the motion of the arm to a first motion speed in a first case where the endoscope is in the peripheral region and the endoscope-biological tissue distance is a first distance,
the issuing issues a second motion-restricting instruction to restrict the motion of the arm to a second motion speed in a second case where the endoscope is in the advancement region and the endoscope-biological tissue distance is the first distance, the first motion speed being higher than the second motion speed.
19. The medical safety control method according to claim 18 , further comprising:
issuing a first instruction for stopping the motion of the arm as the motion-restricting instruction in a case where the endoscope-biological tissue distance is a predetermined first restricted distance or less in the advancement region; and
issuing a second instruction for restricting a motion speed of the arm to a predetermined value or less as the motion-restricting instruction in a case where the endoscope-biological tissue distance is the predetermined first restricted distance or less in the peripheral region.
20. The medical safety control apparatus according to claim 19 , further comprising:
issuing the second instruction for restricting the motion speed of the arm to the predetermined value or less as the motion-restricting instruction in a case where the endoscope-biological tissue distance is a predetermined second restricted distance or less, the second restricted distance being greater than the first restricted distance.