Medical manipulator and method of controlling the same
A surgery system that includes a multiple-degree freedom slave arm, which is able to be mounted with a surgical instrument and includes a plurality of joints and a plurality of motors corresponding the respective joints of the plurality of joints; a first input device configured to operate the multiple-degree freedom slave arm; a second input device configured to operate the multiple-degree freedom slave arm and different from the first input device; and a controller configured to control the multiple-degree freedom slave arm so that the multiple-degree freedom slave arm is operated by one of the first input device and the second input device.
1. A surgery system comprising:
a multiple-degree freedom slave arm, which is able to be mounted with a surgical instrument and includes a plurality of joints and a plurality of motors corresponding the respective joints of the plurality of joints;
a first input device configured to operate the multiple-degree freedom slave arm;
a second input device configured to operate the multiple-degree freedom slave arm and different from the first input device; and
a controller configured to control the multiple-degree freedom slave arm so that the multiple-degree freedom slave arm is operated by one of the first input device and the second input device, wherein the controller is configured to:
when an in-operation signal is not turned on, allow the multiple-degree freedom slave arm to be operated by the first input device in a teaching mode that is a mode for setting a fulcrum position; and
when the in-operation signal is turned on, control the multiple-degree freedom slave arm so as to move a distal end portion of the surgical instrument to spatial coordinates instructed by the second input device while maintaining a state where the surgical instrument passes through the set fulcrum position.
2. The surgery system according to claim 1 , wherein the second input device includes a master arm to remotely control the multiple-degree freedom slave arm and the first input device is other than the master arm.
3. The surgery system according to claim 1 , wherein the first input device is a teach pendant, a touch panel, or a keyboard.
4. The surgery system according to claim 1 , further comprising:
a touch panel configured to provide a graphical user interface for displaying the fulcrum position.
5. The surgery system according to claim 1 , wherein the second input device comprises a switch for turning on and off the in-operation signal.
6. The surgery system according to claim 1 , further comprising:
a foot switch for turning on and off the in-operation signal.
7. A surgery system comprising:
a multiple-degree freedom slave arm, which is able to be mounted with a surgical instrument and includes a plurality of joints and a plurality of motors corresponding the respective joints of the plurality of joints;
a first input device configured to operate the multiple-degree freedom slave arm;
a second input device configured to operate the multiple-degree freedom slave arm and different from the first input device;
a third input device different from the first and second input devices;
a memory; and
a controller configured to control the multiple-degree freedom slave arm so that the multiple-degree freedom slave arm is operated by one of the first input device and the second input device, wherein the controller is configured to:
when an in-operation signal is not turned on, allow the multiple-degree freedom slave arm to be operated by the first input device in a teaching mode that is a mode for setting a fulcrum position;
set the fulcrum position and store the fulcrum position in the memory when the third input device is operated in the teaching mode; and
when the in-operation signal is turned on, control the multiple-degree freedom slave arm so as to move a distal end portion of the surgical instrument to spatial coordinates instructed by the second input device while maintaining a state where the surgical instrument passes through the set fulcrum position.
8. The surgery system according to claim 7 , wherein the second input device includes a master arm to remotely control the multiple-degree freedom slave arm and the first and third input devices are other than the master arm.
9. The surgery system according to claim 7 , wherein the first input device is a teach pendant, a touch panel, or a keyboard.
10. The surgery system according to claim 7 , wherein the third input device is a touch panel configured to provide a graphical user interface for providing an instruction to store the fulcrum position in the memory.
11. The surgery system according to claim 7 , wherein the graphical user interface is configured to display the fulcrum position.
12. The surgery system according to claim 7 , wherein the second input device comprises a switch for turning on and off the in-operation signal.
13. The surgery system according to claim 7 , further comprising:
a foot switch for turning on and off the in-operation signal.
14. The surgery system according to claim 7 , wherein the surgical instrument is a forceps including a shaft, and
the memory is configured to store a type of the forceps and a length of the shaft.
15. A surgery system comprising:
a multiple-degree freedom slave arm, which is able to be mounted with a medical instrument and includes a plurality of joints and a plurality of motors corresponding the respective joints of the plurality of joints;
a first input device configured to operate the multiple-degree freedom slave arm;
a second input device configured to operate the multiple-degree freedom slave arm and different from the first input device;
a touch panel configured to display information related to an operation of the multiple-degree freedom slave arm by the first input device;
a memory storing a fulcrum position; and
a controller configured to control the multiple-degree freedom slave arm so that the multiple-degree freedom slave arm is operated by one of the first input device and the second input device, wherein the controller is configured to:
when an in-operation signal is not turned on, control the touch panel to display the information and allow the multiple-degree freedom slave arm to be operated by the first input device; and
only when the in-operation signal is turned on, control the multiple-degree freedom slave arm so as to move a distal end portion of the medical instrument to spatial coordinates instructed by the second input device while maintaining a state where the medical instrument passes through the fulcrum position.
16. The surgery system according to claim 15 , wherein the second input device includes a master arm to remotely control the multiple-degree freedom slave arm and the first input device is other than the master arm.
17. The surgery system according to claim 15 , wherein the touch panel is configured to provide a graphical user interface for displaying the information including a selectable operation modes, and
the controller is configured to allow the multiple-degree freedom slave arm to be operated by the first input device based on the selected operation mode.
18. The surgery system according to claim 15 , wherein the second input device comprises a switch for turning on and off the in-operation signal.
19. The surgery system according to claim 15 , further comprising:
a foot switch for turning on and off the in-operation signal.
20. The surgery system according to claim 15 , further comprising:
a monitor, a camera configured to image an inside of a patient and output an image signal, and a camera controller configured to cause the monitor to display the image signal received from the camera.