Robotic surgical system, operation apparatus and operation apparatus control method
A robotic surgical system according to this disclosure includes a controller configured to control at least one of the first driver and the second driver to maintain a distance between the first operation unit and the second operation unit when a third operation to move the endoscope by the first operation unit and the second operation unit is received.
1 . A robotic surgical system comprising:
a surgical apparatus including a plurality of robot arms configured to support an endoscope, a first surgical instrument and a second surgical instrument;
an operation apparatus including a first operation unit that is configured to be operated by a right hand of an operator to receive a first operation for the first surgical instrument and includes a first driver, and a second operation unit that is configured to be operated by a left hand of the operator to receive a second operation for the second surgical instrument and includes a second driver; and
a controller, wherein
the controller is configured to perform operations comprising operations to
control at least one of the first driver and the second driver to maintain a distance between the first operation unit and the second operation unit when a third operation to move the endoscope by the first operation unit and the second operation unit is received,
specify a midpoint of a line segment that connects the first operation unit to the second operation unit, and
control at least one of the first driver and the second driver to maintain a first distance between the midpoint and the first operation unit, and a second distance between the midpoint and the second operation unit when the third operation to move the endoscope by the first operation unit and the second operation unit is received, and
the midpoint is a midpoint of a line segment that connects a first gimbal point of the first operation unit to a second gimbal point of the second operation unit.
2 . The robotic surgical system according to claim 1 , wherein
the operation apparatus further includes an input configured to allow accepting the third operation to move the endoscope by the first operation unit and the second operation unit during operation; and
the controller is configured to control at least one of the first driver and the second driver so that the distance between the first operation unit and the second operation unit at the time of a fourth operation of the input device is maintained during a period receiving the third operation and the fourth operation.
3 . A robotic surgical system comprising:
a surgical apparatus including a plurality of robot arms configured to support an endoscope, a first surgical instrument and a second surgical instrument;
an operation apparatus including a first operation unit that is configured to be operated by a right hand of an operator to receive a first operation for the first surgical instrument and includes a first driver, and a second operation unit that is configured to be operated by a left hand of the operator to receive a second operation for the second surgical instrument and includes a second driver; and
a controller, wherein
a reference coordinate system of the first operation unit and the second operation unit comprises
a first axis being orthogonal to a floor on which the operation apparatus is placed,
a second axis being orthogonal to the first axis and extending in a frontward and rearward direction of the operator, and
a third axis being orthogonal to the first axis and the second axis, and
the controller is configured to perform operations comprising operations to
specify a midpoint of a line segment that connects the first operation unit to the second operation unit,
control at least one of the first driver and the second driver to maintain a first distance between the midpoint and the first operation unit, and a second distance between the midpoint and the second operation unit when the third operation to move the endoscope by the first operation unit and the second operation unit is received, and
control at least one of the first driver and the second driver to maintain the first distance between the midpoint and the first operation unit, and the second distance between the midpoint and the second operation unit on a plane including the first axis and the third axis when the third operation to move the endoscope by the first operation unit and the second operation unit is received.
4 . A robotic surgical system comprising:
a surgical apparatus including a plurality of robot arms configured to support an endoscope, a first surgical instrument and a second surgical instrument;
an operation apparatus including a first operation unit that is configured to be operated by a right hand of an operator to receive a first operation for the first surgical instrument and includes a first driver, and a second operation unit that is configured to be operated by a left hand of the operator to receive a second operation for the second surgical instrument and includes a second driver; and
a controller, wherein
a reference coordinate system of the first operation unit and the second operation unit comprises
a first axis orthogonal to a floor on which the operation apparatus is placed,
a second axis being orthogonal to the first axis and extending in a frontward and rearward direction of the operator, and
a third axis being orthogonal to the first axis and the second axis, and
the controller is configured to perform operations comprising operations to
specify a midpoint of a line segment that connects the first operation unit to the second operation unit,
control at least one of the first driver and the second driver to maintain a first distance between the midpoint and the first operation unit, and a second distance between the midpoint and the second operation unit when the third operation to move the endoscope by the first operation unit and the second operation unit is received, and
when the third operation to move the endoscope in a direction including a directional component of the second axis by the first operation unit and the second operation unit is received, the controller is configured to control at least one of the first driver and the second driver to maintain the first distance between the midpoint and the first operation unit, and the second distance between the midpoint and the second operation unit on a plane including the first axis and the third axis that move by the directional component of the second axis in a direction of the second axis.
5 . The robotic surgical system according to claim 4 , wherein
the operation apparatus includes
a display configured to display an image captured by the endoscope and to pivot so as to be inclined with respect to a horizontal plane, and
an inclination detection sensor configured to detect an inclination of the display with respect to the horizontal plane; and
the controller is configured to incline the plane including the first axis and the third axis in accordance with the inclination detected by the inclination detection sensor.
6 . The robotic surgical system according to claim 1 , wherein the controller is configured to control both the first driver and the second driver to maintain the distance between the first operation unit and the second operation unit when the third operation to move the endoscope by the first operation unit and the second operation unit is received.
7 . The robotic surgical system according to claim 1 , wherein
the first operation unit further includes a first arm and a first wrist part,
the second operation unit further includes a second arm and a second wrist part,
the first driver is arranged in the first arm, and
the second driver is arranged in the second arm.
8 . An operation apparatus configured to control a first surgical instrument held by a first robot arm, a second surgical instrument held by a second robot arm, and an endoscope held by a third robot arm, the operation apparatus comprising:
a first operation unit that is configured to be operated by a right hand of an operator to receive a first operation for the first surgical instrument and includes a first driver;
a second operation unit that is configured to be operated by a left hand of the operator to receive a second operation for the second surgical instrument and includes a second driver; and
an input configured to allow accepting a third operation to move the endoscope by the first operation unit and the second operation unit during operated by the operator, wherein
the first driver and the second driver are driven to maintain a distance between the first operation unit and the second operation unit during a fourth operation of the input is received,
the first driver and the second driver are driven to maintain a first distance between a midpoint of a line segment that connects the first operation unit to the second operation unit and the first operation unit, and a second distance between the midpoint and the second operation unit during the fourth operation of the input is received,
a reference coordinate system of the first operation unit and the second operation unit comprises
a first axis orthogonal to a floor on which the operation apparatus is placed,
a second axis being orthogonal to the first axis and extending in a frontward/rearward direction of the operator, and
a third axis being orthogonal to the first axis and the second axis; and
the first driver and the second driver are driven to maintain the first distance between the midpoint and the first operation unit, and the second distance between the midpoint and the second operation unit on a plane including the first axis and the third axis during the fourth operation of the input is received.
9 . The operation apparatus according to claim 8 , wherein the midpoint is a midpoint of a line segment that connects a first gimbal point of the first operation unit to a second gimbal point of the second operation unit.
10 . An operation apparatus configured to control a first surgical instrument held by a first robot arm, a second surgical instrument held by a second robot arm, and an endoscope held by a third robot arm, the operation apparatus comprising:
a first operation unit that is configured to be operated by a right hand of an operator to receive a first operation for the first surgical instrument and includes a first driver;
a second operation unit that is configured to be operated by a left hand of the operator to receive a second operation for the second surgical instrument and includes a second driver; and
an input configured to allow accepting a third operation to move the endoscope by the first operation unit and the second operation unit during operated by the operator, wherein
the first driver and the second driver are driven to maintain a distance between the first operation unit and the second operation unit during a fourth operation of the input is received,
the first driver and the second driver are driven to maintain a first distance between a midpoint of a line segment that connects the first operation unit to the second operation unit and the first operation unit, and a second distance between the midpoint and the second operation unit during the fourth operation of the input is received,
a reference coordinate system of the first operation unit and the second operation unit comprises
a first axis orthogonal to a floor on which the operation apparatus is placed,
a second axis being orthogonal to the first axis and extending in a frontward/rearward direction of the operator, and
a third axis being orthogonal to the first axis and the second axis, and
when the third operation to move the endoscope in a direction including a directional component of the second axis by the first operation unit and the second operation unit is received during the fourth operation of the input is received, the first driver and the second driver are driven to maintain the first distance between the midpoint and the first operation unit, and the second distance between the midpoint and the second operation unit on a plane including the first axis and the third axis that move by the directional component of the second axis in a direction of the second axis.
11 . The operation apparatus according to claim 8 further comprising
a display configured to display an image captured by the endoscope and to pivot so as to be inclined with respect to a horizontal plane, and
an inclination detection sensor configured to detect an inclination of the display with respect to the horizontal plane, wherein
the plane including the first axis and the third axis is inclined in accordance with the inclination detected by the inclination detection sensor.
12 . The operation apparatus according to claim 8 , wherein
the first operation unit includes a first arm and a first wrist part,
the second operation unit further includes a second arm and a second wrist part,
the first driver is arranged in the first arm, and
the second driver is arranged in the second arm.
13 . An operation apparatus control method in a robotic surgical system including a surgical apparatus including a plurality of robot arms configured to support an endoscope, a first surgical instrument and a second surgical instrument; an operation apparatus including a first operation unit that is configured to be operated by a right hand of an operator to receive a first operation for the first surgical instrument and includes a first driver, and a second operation unit that is configured to be operated by a left hand of the operator to receive a second operation for the second surgical instrument and includes a second driver; and a controller, the method performed by the controller, the method comprising:
receiving a third operation to move the endoscope by the first operation unit and the second operation unit;
controlling at least one of the first driver and the second driver to maintain a distance between the first operation unit and the second operation unit when the third operation is received; and
specifying a midpoint of a line segment that connects the first operation unit to the second operation unit, wherein
controlling at least one of the first driver and the second driver further comprises maintaining a first distance between the midpoint and the first operation unit, and a second distance between the midpoint and the second operation unit when the third operation is received, and
the midpoint is a midpoint of a line segment that connects a first gimbal point of the first operation unit to a second gimbal point of the second operation unit.
14 . The operation apparatus control method according to claim 13 , wherein
the operation apparatus further includes an input configured to allow accepting the third operation to move the endoscope by the first operation unit and the second operation unit during operation by the operator; and
the controlling at least one of the first driver and the second driver is performed so that the distance between the first operation unit and the second operation unit at the time of a fourth operation of the input device is maintained during a period receiving the third operation and the fourth operation.