OPERATION SUPPORT SYSTEM, PATIENT SIDE DEVICE, AND MEDICAL APPLIANCE OPERATION METHOD

• Main Authors: UENO TAKAHIRO, YAMAMORI TAKAFUMI, KOBAYASHI AYATAKA
• Format: Patent
• Language: English; Japanese
• Published: 07.04.2022
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; DIAGNOSIS; HAND TOOLS; HUMAN NECESSITIES; HYGIENE; IDENTIFICATION; MANIPULATORS; MEDICAL OR VETERINARY SCIENCE; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; SURGERY; TRANSPORTING

To provide an operation support system capable of suppressing vibration of an arm and a medical appliance.SOLUTION: A surgical operation system 100 (operation support system) comprises: a medical manipulator 1 including an arm 60 with a medical appliance 4 attached to a tip side thereof; a remote operation device 2 including an operation manipulator arm 21 for receiving an operation amount to the medical appliance 4; and a control unit 31 for scaling the received operation amount to calculate an actual operation amount, an operation amount in actually actuating the medical appliance 4. As a TCP of the medical appliance 4 is closer to a pivot position PP that is a position to be a supporting point in moving the medical appliance 4, the control unit 31 reduces a scaling magnification so that an amount of movement of the TCP with respect to the operation amount is smaller.SELECTED DRAWING: Figure 11 【課題】アームおよび医療器具の振動を抑制可能な手術支援システムを提供する。【解決手段】この外科手術システム１００（手術支援システム）は、先端側に医療器具４が取り付けられるアーム６０を含む医療用マニピュレータ１と、医療器具４に対する操作量を受け付ける操作用マニピュレータアーム２１を含む遠隔操作装置２と、受け付けられた操作量をスケーリングして実際に医療器具４を動作させる際の操作量である実操作量を演算する制御部３１とを備える。そして、制御部３１は、医療器具４のＴＣＰが医療器具４を移動させる際の支点となる位置であるピボット位置ＰＰに近づくにつれて、操作量に対するＴＣＰの移動量が小さくなるようにスケーリングの倍率を小さくする。【選択図】図１１