Robotic surgical system, operation apparatus and robotic-surgical-system control method
A robotic surgical system according to this disclosure includes a controller configured to control a driver(s) to apply a force in a direction opposite to a direction of operation of an operation unit in a three-axis Cartesian coordinate system having three axes orthogonal to each other.
1 . An operation apparatus for operating a surgical apparatus including a robot arm configured to support a medical instrument, the operation apparatus comprising:
an operation unit comprising an input device and a handle configured to accept operation of an operator and includes one or more drivers configured to assist the operation of the operator; and
a controller configured to perform operations further comprising operations to:
control the one or more drivers to apply a force in a direction opposite to a direction of the operation of the operation unit in a three-axis Cartesian coordinate system having three axes orthogonal to each other, and
control the one or more drivers so as to apply a braking force in the Cartesian coordinate system in one or more of: a deceleration and an acceleration of the operation of the operation unit.
2 . The operation apparatus according to claim 1 , further comprising a second acceptor configured to accept a braking-force-changing operation to change a level of the braking force of the operator, wherein
the controller is configured to perform operations further comprising operations to change the level of the braking force in accordance with the braking-force-changing operation accepted by the second acceptor.
3 . The operation apparatus according to claim 1 , wherein the controller is configured to perform operations further comprising operations to determine, in the one or more of the deceleration and the acceleration of the operation of the operation unit, a braking parameter of the one or more drivers, and to control the one or more drivers so as to apply the braking force based on the braking parameter determined.
4 . The operation apparatus according to claim 1 , further comprising a delay compensator comprising a filter configured to compensate for a delay between an input of the operation of the operation unit and an output to the robot arm in response to the input.
5 . A robotic surgical system, comprising:
a surgical apparatus including a robot arm configured to support a medical instrument;
an operation apparatus including an operation unit comprising an input device and a handle configured to accept operation of an operator and includes one or more drivers configured to assist the operation of the operator, and being configured to operate the surgical apparatus; and
a controller configured to perform operations comprising operations to:
control the one or more drivers to apply a force in a direction opposite to a direction of the operation of the operation unit in a three-axis Cartesian coordinate system having three axes orthogonal to each other; and
control the one or more drivers so as to apply a braking force in the Cartesian coordinate system in one of: a deceleration and an acceleration of the operation of the operation unit.
6 . The robotic surgical system according to claim 5 , wherein the input device further comprises a touch panel display that displays elements comprising:
a first acceptor configured to accept a force-changing operation to change a level of the force of the operator; and
a second acceptor configured to accept a braking-force-changing operation to change a level of the braking force of the operator, wherein
the controller is configured to perform operations further comprising operations to:
change the level of the force in accordance with the force-changing operation accepted by the first acceptor; and
change the level of the braking force in accordance with the braking-force-changing operation accepted by the second acceptor.
7 . The robotic surgical system according to claim 5 , wherein the controller is configured to perform operations further comprising operations to determine, in the one or more of: the deceleration and the acceleration of the operation of the operation unit, a braking parameter of the one or more drivers, and to control the one or more drivers so as to apply the braking force based on the braking parameter determined.
8 . The robotic surgical system according to claim 7 , wherein the controller is configured to perform operations further comprising operations to fix the braking parameter at a constant value in the deceleration of the operation of the operation unit.
9 . The robotic surgical system according to claim 7 , wherein the controller is configured to perform operations further comprising operations, in the acceleration of the operation of the operation unit, to fix the braking parameter at a maximum value if an absolute value of the operation velocity of the operation unit is not greater than a second threshold value, to reduce the braking parameter as the operation velocity of the operation unit increases if the absolute value of the operation velocity of the operation unit is greater than the second threshold value and not greater than a third threshold value, and to set the braking parameter zero if the absolute value of the operation velocity of the operation unit is greater than the third threshold value.
10 . A method for controlling a robotic surgical system including a surgical apparatus including a robot arm configured to support a medical instrument, and an operation apparatus including an operation unit comprising an input device and a handle configured to accept operation of an operator and includes one or more drivers configured to assist the operation of the operator, and being configured to operate the surgical apparatus, the method comprising:
accepting the operation of the operation unit;
controlling the one or more drivers to apply a force in a direction opposite to a direction of the operation of the operation unit in a three-axis Cartesian coordinate system having three axes orthogonal to each other;
determining an operation parameter of the one or more drivers based on an operation velocity of the operation unit, and controlling the one or more drivers so as to apply the force based on the operation parameter determined, and
increasing, if an absolute value of the operation velocity of the operation unit is not greater than a first threshold value, an absolute value of the operation parameter as the absolute value of the operation velocity of the operation unit increases, and fixing the absolute value of the operation parameter at a maximum value if the absolute value of the operation velocity of the operation unit is greater than the first threshold value.
11 . A robotic surgical system, comprising:
a surgical apparatus including a robot arm configured to support a medical instrument;
an operation apparatus including an operation unit comprising an input device and a handle configured to accept operation of an operator and includes one or more drivers configured to assist the operation of the operator, and being configured to operate the surgical apparatus; and
a controller configured to perform operations comprising operations to:
control the one or more drivers to apply a force in a direction opposite to a direction of the operation of the operation unit in a three-axis Cartesian coordinate system having three axes orthogonal to each other;
determine an operation parameter of the one or more drivers based on an operation velocity of the operation unit, and to control the one or more drivers so as to apply the force based on the operation parameter determined; and
increase, if an absolute value of the operation velocity of the operation unit is not greater than a first threshold value, an absolute value of the operation parameter as the absolute value of the operation velocity of the operation unit increases, and fix the absolute value of the operation parameter at a maximum value if the absolute value of the operation velocity of the operation unit is greater than the first threshold value.
12 . The robotic surgical system according to claim 11 , wherein the input device further comprises a touch panel display that displays elements comprising a first acceptor configured to accept a force-changing operation to change a level of the force of the operator, wherein
the controller is configured to perform operations comprising operations to change the level of the force in accordance with the force-changing operation accepted by the first acceptor.
13 . A robotic surgical system comprising:
a surgical apparatus including a robot arm configured to support a medical instrument;
an operation apparatus including an operation unit comprising an input device and a handle configured to accept operation of an operator and includes one or more drivers configured to assist the operation of the operator, and being configured to operate the surgical apparatus; and
a controller configured to perform operations comprising operations to control the one or more drivers to apply a force in a direction opposite to a direction of the operation of the operation unit in a three-axis Cartesian coordinate system having three axes orthogonal to each other, wherein
the operation unit includes a plurality of joints;
each of the one or more drivers is provided to correspond one of the plurality of joints; and
the controller is configured to perform operations further comprising operations to apply the force by controlling the one or more drivers that are provided to three of the joints that are connected closer to a proximal end of the operation unit in the plurality of joints.
14 . The robotic surgical system according to claim 11 , wherein
the operation unit includes a plurality of joints, and a grip part configured to be gripped by the operator;
each of the one or more drivers is provided to correspond one of the plurality of joints; and
the controller is configured to perform operations further comprising operations to apply a start-from-rest assistance force when the operation unit starts from rest by controlling the driver of the rotation shaft that corresponds to an upward movement of the grip part in the plurality of joints.
15 . The robotic surgical system according to claim 11 , further comprising a delay compensator comprising a filter configured to compensate for a delay between an input of the operation of the operation unit and an output to the robot arm in response to the input.
16 . The operation apparatus according to claim 1 , further comprising a first acceptor configured to accept a force-changing operation to change a level of the force of the operator, wherein
the controller is configured to perform operations further comprising operations to change the level of the force in accordance with the force-changing operation accepted by the first acceptor.
17 . The operation apparatus according to claim 1 , wherein the controller is configured to perform operations further comprising operations to determine an operation parameter of the one or more drivers based on an operation velocity of the operation unit, and to control the one or more drivers so as to apply the force based on the operation parameter determined.