Patent Application
20210030257
This application claims priority based on 35 USC 119 from prior Japanese Patent Application No. 2019-139176 filed on Jul. 29, 2019, entitled “SURGICAL SYSTEM”, the entire contents of which are incorporated herein by reference.
The disclosure may relate to a surgical system, and may particularly relate to a surgical system including a remote control apparatus for operating surgical instruments.
In a related art, there has been known a surgical system including a remote control apparatus for operating surgical instruments (e.g., see Patent Documents 1 and 2).
Patent Documents 1 and 2 disclose a surgical system that includes: manipulators that support an endoscope for capturing an image of a surgery site and surgical instruments; a display device that displays the image captured by the endoscope; and a remote control apparatus that includes an input device to remotely operate the surgical instruments. The surgical system disclosed in Patent Document 1 is configured, to display, at an edge portion of the display area of the display device, a symbol to indicate a position of the surgical instrument that is located out of the field of view of the endoscope. The surgical system disclosed in Patent Document 2 is configured to display, at an edge portion of a display area of the display device, an icon that indicates information of a surgical instrument operated by the right hand, an icon that indicates information of a surgical instrument operated by the left hand, an icon that indicates information of a surgical instrument for replacement, an energy ball icon, and multiple master control icons.
Patent Document 1: Japanese Patent Application Publication No. 2013-188574
Patent Document 2: U.S. Pat. No. 8,418,073
As described above, the surgical system disclosed in Patent Document 1 displays, at the edge portion of the display area of the display device, the symbol that indicates the position of the surgical instrument that is out of the field of view of the endoscope. Accordingly, if the display device disclosed in Patent Document 2 displays a symbol such as being disclosed in Patent Document 1, the symbol may be overlapped with the various information displayed at the edge portion of the display area of the display device and thus be difficult to be see. Further, it may be desired to provide a display device in which positional relationships of a plurality of surgical instruments with respect to the field of view of the endoscope can be more easily grasped than the display device of Patent Document 1.
An object of one or more embodiments of the disclosure may be to provide a surgical system that is capable of displaying information of positional relationships of a plurality of surgical instruments with respect to a field of view of an endoscope without being overlapped with other information. Another object of one or more embodiments of the disclosure may be to provide a surgical system in which positional relationships of a plurality of surgical instruments with respect to a field of view of an endoscope can be easily grasped.
An aspect of one or more embodiments may be a surgical system that includes: a first manipulator that supports a first surgical instrument; a second manipulator that supports a second surgical instrument; a third manipulator that supports a third surgical instrument; a fourth manipulator that supports an endoscope configured to capture an image of a surgery site; a remote control apparatus that includes a display device configured to display the image captured by the endoscope, a first operation handle for right hand to operate the first surgical instrument, and a second operation handle for left hand to operate the second surgical instrument; and a control apparatus that controls the display device. The control apparatus displays, on the display device, a graphical user interface overlapped with the image captured by the endoscope, the graphical user interface including a first area that indicates information on the first surgical instrument, a second area that indicates information on the third surgical instrument, a third area that indicates information on the second surgical instrument, which are arranged in one of an upper end portion and an lower end portion in a display area of the display device and further including, at a position different from that of the one of the upper end portion and the lower end portion in the display area, a surgical instrument position display area that indicates positional relationships of the first, second, third surgical instruments with respect to a field of view of the endoscope.
An aspect of one or more embodiments may be a remote control apparatus that includes: a display device configured to display an image captured by an endoscope, a first operation handle for right hand to operate a first surgical instrument, and a second operation handle for left hand to operate a second surgical instrument; and a control apparatus that controls the display device. The control apparatus displays, on the display device, a graphical user interface overlapped with the image captured by the endoscope, the graphical user interface including a surgical instrument position display area that indicates positional relationships of the first, second surgical instruments and a third surgical instrument for replacement with respect to a field of view of the endoscope. The surgical instrument position display area includes an in-field portion corresponding to an inside of the field of view of the endoscope and an out-of-field portion corresponding to an outside of the field of view of the endoscope around the field of view. The out-of-field portion is configured, when one or more of the first, second, third surgical instruments that are located outside the field of view of the endoscope, to display information of each of one or more of the first, second, third surgical instruments that are located outside the field of view of the endoscope.
An aspect of one or more embodiments may be a method of displaying information in a remote control apparatus. The remote control apparatus may include: a display device configured to display an image captured by an endoscope; a first operation handle for right hand to operate a first surgical instrument; and a second operation handle for left hand to operate a second surgical instrument. The method may include: displaying, on the display device, a graphical user interface overlapped with the image captured by the endoscope, the graphical user interface including a surgical instrument position display area that indicates positional relationships of the first, second surgical instruments and a third surgical instrument for replacement with respect to a field of view of the endoscope; and displaying, when the first and second instruments are located in the field of view of the endoscope and the third instrument is located outside the field of view of the endoscope, information of the first and second surgical instruments in an in-field portion in the surgical instrument position display area and information of the third surgical instrument in an out-of-field portion in the surgical instrument position display area.
Descriptions are provided hereinbelow for one or more embodiments based on the drawings. In the respective drawings referenced herein, the same constituents are designated by the same reference numerals and duplicate explanation concerning the same constituents is omitted. All of the drawings are provided to illustrate the respective examples only.
A configuration of a surgical system 400 according to one or more embodiments is described with reference to
As illustrated in
The patient-side apparatus 200 constitutes an interface to perform a surgery for a patient P. The patient-side apparatus 200 is placed beside an operation table 300 on which the patient P lies. The patient-side apparatus 200 includes the manipulators 201. One of the manipulators 201 supports the endoscope 201d while the others hold the surgical instruments 201a to 201c. The manipulators 201 are commonly supported by a platform 203. Each of the manipulators 201 includes joints. Each joint includes a driver including a servo-motor and a position detector such as an encoder. The manipulators 201 are configured so that the medical equipment attached to each manipulator 201 is controlled by a driving signal given through the controller 206, to perform a desired movement.
The platform 203 is supported by a positioner 202 placed on the floor of an operation room. The positioner 202 includes a column 204 and a base 205. The column 204 includes an elevating shaft adjustable in the vertical direction. The base 205 includes wheels and is movable on the floor surface.
The surgical instruments 201a to 201c as the medical equipment are detachably attached to the distal ends of three of the four manipulators 201, respectively. The surgical instruments 201a to 201c each include a housing, an elongate shaft, and an end effector. The housing is attached to the corresponding one of the manipulators 201. The end effector is provided at a distal end of the shaft. The end effector is grasping forceps, scissors, a hook, a high-frequency knife, a snare wire, a clamp, or a stapler, for example. The end effector is not limited to those and can be various types of treatment tools. In surgeries using the patient-side apparatus 200, the three manipulators 201 introduce the surgical instruments 201a to 201c into the body of the patient P through a cannula (trocar) placed on the body surface of the patient P. The end effector of each of the surgical instruments 201a to 201c is then located near the surgery site. The surgical instrument 201a, the surgical instrument 201b, and the surgical instrument 201c are examples of a “first surgical instrument”, a “second surgical instrument”, and a “third surgical instrument”, respectively.
To the distal end of one of the four manipulators 201, the endoscope 201d as the medical equipment is detachably attached. The endoscope 201d captures an image within the body cavity of the patient P. The captured image is outputted to the remote control apparatus 100. The endoscope 201d may be a 3D endoscope capable of capturing a three-dimensional image or a 2D endoscope. In surgeries using the patient-side apparatus 200, the one of the manipulators 201 introduces the endoscope 201d into the body of the patient P through a trocar placed on the body surface of the patient P. The endoscope 201d is then located near the surgery site.
The remote control apparatus 100 constitutes the interface with the operator O. The remote control apparatus 100 is an apparatus that allows the operator O to operate the medical equipment held by the manipulators 201. Specifically, the remote control apparatus 100 is configured to transmit action mode instructions which are inputted by the operator O and are to be executed by the surgical instruments 201a to 201c and endoscope 201d, to the patient-side apparatus 200 through the controller 206. The remote control apparatus 100 is installed beside the operation table 300 so that the operator O can see the state of the patient P very well while operating the remote control apparatus 100, for example. The remote control apparatus 100 may be configured to transmit the action mode instructions wirelessly and installed in a room different from the operation room where the operation table 300 is installed.
The action modes to be executed by the surgical instruments 201a to 201c include a mode of actions to be taken by each of the surgical instruments 201a to 201c (a series of positions and postures) and actions to be executed by the function of each of the surgical instruments 201a to 201c. For one of the surgical instruments 201a to 201c which is a pair of grasping forceps, for example, the action mode to be executed by the surgical instruments 201a to 201c includes setting of roll and pitch positions of the wrist of the end effector and the action to open or close the jaws. For one of the surgical instruments 201a to 201c which is a high-frequency knife, the action mode to be executed by the surgical instruments 201a to 201c includes vibration of the high-frequency knife, specifically, supply of current to the high-frequency knife. For one of the surgical instruments 201a to 201c which is a snare wire, the action mode to be executed by the surgical instruments 201a to 201c includes a capturing action and an action to release the captured object and moreover includes an action to supply current to a bipolar or monopolar instrument to burn off the surgery site.
The action mode to be executed by the endoscope 201d includes setting of the position and posture of the tip of the endoscope 201d or setting of the zoom magnification, for example.
As illustrated in
The operation handles 1a and 1b are provided in order to remotely operate the medical equipment held by the manipulators 201. Specifically, the operation handles 1a and 1b accept operations by the operator O for operating the medical equipment (the surgical instruments 201a to 201c and the endoscope 201d). The operation handles 1a and 1b are arranged side by side in the X direction. The operation handle 1a is arranged on the right side (the X2 side) to be operated by the right hand of the operator O. The operation handle 1b is arranged on the left side (the X1 side) to be operated by the left hand of the operator O. The operation handle 1a and the operation handle 1b are examples of a “first operation handle” and a “second operation handle”, respectively.
The operation handles 1a and 1b are arranged to extend from the rear side (the Y2 side) of the remote control apparatus 100 to the front side (the Y1 side) thereof. The operation handles 1a and 1b are configured to be movable within a predetermined three-dimensional operation region. Specifically, the operation handles 1a and 1b are configured to be movable in the up-down direction (the Z direction), the right-left direction (the X direction), and the front-rear direction (the Y direction).
The right hand-operation handle 1a is provided to remotely operate the corresponding surgical instrument 201a. The left hand-operation handle 1b is provided to remotely operate the corresponding surgical instrument 201b. As illustrated in
The remote control apparatus 100 and patient-side apparatus 200 constitute a master-slave system in terms of controlling motion of the manipulators 201. Specifically, the operation handles 1a and 1b constitute an operating section on the master side in the master-slave system, and the manipulators 201 supporting the medical equipment constitute an operating section on the slave side. When the operator O operates the operation handles 1a and 1b, the motion of the manipulators 201 is controlled so that the distal ends (the end effectors of the surgical instruments 201a to 201c or the endoscope 201d) of the manipulators 201 move following the movement of the operation handles 1a and 1b.
The patient-side apparatus 200 is configured to control the motion of the manipulators 201 in accordance with the set motion scaling ratio. When the motion scaling ratio is set to ½, for example, the end effectors of the surgical instruments 201a to 201c move ½ of the movement distance of the operation handles 1a and 1b. This allows for precise fine surgery.
As illustrated in
The operation pedal section 2 includes sensors 26 that detect the presence of the foot operating the foot pedals 20. The sensors 26 include light emitters 261a, 261b, 261c, 261d, 261e, 261f, and 261g and light receivers 262a, 262b, 262c, 262d, 262e, 262f, and 262g. The sensors 26 detect the presence of the foot when the light from the emitter 261a, 261b, 261c, 261d, 261e, 261f, and 261g is blocked by the foot and the light reception by the receiver 262a, 262b, 262c, 262d, 262e, 262f, and 262g is interrupted. Specifically, the sensors 26 are blockage type sensors. The sensors 26 are provided to detect that the foot of the operator O is put on any one of the foot pedals 20. In other words, the sensors 26 detect setting of the foot of the operator O at an operation preparation position of the foot pedal 20.
The detection information detected by the sensors 26 is transmitted to a controller 61, and the controller 61 that receives the detection information determines whether there is the foot operating the corresponding foot pedals 20.
The coagulation pedals 21a and 21b enable surgical instruments to coagulate surgery sites. Specifically, when the coagulation pedal 21a or 21b is operated, voltage for coagulation is applied to corresponding one of the surgical instruments 201a, 201b and 201c to coagulate surgery sites. The coagulation pedal 21a is located to the left (on the X1 side) of the coagulation pedal 21b. The coagulation pedal 21a is used in relation to the surgical instrument 201b controlled by the left hand-operation handle 1b. The coagulation pedal 21b is used in relation to the surgical instrument 201a controlled by the right hand-operation handle 1a. The coagulation pedals 21a and 21b are in a first color. For example, the coagulation pedals 21a and 21b are in blue as the first color.
The cutting pedals 22a and 22b enable the surgical instruments to cut surgery sites. Specifically, when the cutting pedal 22a or 22b is operated, voltage for cutting is applied to corresponding one of the surgical instruments 201a, 201b, and 201c to cut surgery sites. The cutting pedal 22a is located to the left (on the X1 side) of the cutting pedal 22b. The cutting pedal 22a is used in relation to the surgical instrument 201b controlled by the left hand-operation handle 1b. The cutting pedal 22b is used in relation to the surgical instrument 201a controlled by the right hand-operation handle 1a. The cutting pedals 22a and 22b are in a second color different from the first color. For example, the cutting pedals 22a and 22b are in yellow as the second color.
Specifically, the coagulation pedal 21b and the cutting pedal 22b execute the function of the surgical instrument 201a operated by the right hand-operation handle 1a. The coagulation pedal 21a and the cutting pedal 22a execute the function of the surgical instrument 201b operated by the left hand-operation handle 1b.
The clutch pedal 23 is operated to execute a clutch function. Specifically, the clutch pedal 23 is used when temporarily disconnecting the control-related connections between the manipulators 201 and the operation handles 1a and 1b to stop the operation of the surgical instruments. During the operation of the clutch pedal 23, the manipulators 201 of the patient-side apparatus 200 does not move even when the operation handles 1a and 1b are operated. For example, when the operation handle 1a (1b) come close to the end of the movable region during the operation, it is possible to move the operation handle 1a (1b) back to near the central position by operating the clutch pedal 23 and temporarily disconnecting the control-related connections. Then, once the operation of the clutch pedal 23 is quitted, the manipulators 201 and the operation handles 1a and 1b are connected again, and operation of the operation handles 1a and 1b can be restarted from near the central position. In this case, the clutch pedal 23 is operated to temporarily disconnect the whole control-related connections between both the operation handles 1a and 1b and the manipulators 201. On the other hand, the clutch switch 11 provided in each of the operation handles 1a and 1b is operated to temporarily disconnect the control-related connections between either of the operation handles 1a and 1b and corresponding one of the manipulators 201, individually.
The camera pedal 24 is used to control the position and orientation of the endoscope 201d that captures images within the body cavity. That is, the camera pedal 24 executes a function of the endoscope 201d. Specifically, the camera pedal 24 enables control of the endoscope 201d by the operation handles 1a and 1b. That is, the position and orientation of the endoscope 201d are controllable by the operation handles 1a and 1b while the camera pedal 24 is being pressed. The endoscope 201d is controlled by using both of the right and left operation handles 1a and 1b, for example. Specifically, when the operator O rotates the right and left operation handles 1a and 1b about the middle point between the right and left operation handles 1a and 1b, the endoscope 201d is rotated. When the operator O presses the right and left operation handles 1a and 1b together, the endoscope 201d goes further into the body cavity. When the operator O pulls the right and left operation handles 1a and 1b together, the endoscope 201d retracts. When the operator O moves the right and left operation handles 1a and 1b together up, down, right, and left, the endoscope 201d moves up, down, right, and left, respectively.
The switch pedal 25 is used to switch the manipulators 201 to be operated by the operation handles 1a and 1b. For example, four manipulators 201 are provided, and within three of the manipulators 201 respectively holding the surgical instruments 201a to 201c, the manipulators 201 operated by the right and left operation handles 1a and 1b are switched by operating the switch pedal 25. Specifically, the switch pedal 25 is operated to replace the surgical instrument 201a operated by the right hand-operation handle 1a or the surgical instrument 201b operated by the left hand-operation handle 1b with the surgical instrument 201c, which is provided to change the type of the operation. The switch pedal 25 is operated by being pressed leftward (in the X1 direction). For example, the manipulator 201 operated by the right hand-operation handle 1a is switched by operating the switch pedal 25. In this case, the manipulator 201 operated by the right hand-operation handle 1a is switched without changing the manipulator 201 operated by the left hand-operation handle 1b. For example, the manipulator 201 operated by the left hand-operation handle 1b is switched by operating the switch pedal 25. In this case, the manipulator 201 operated by the left hand-operation handle 1b is switched without changing the manipulator 201 operated by the right hand-operation handle 1a.
As illustrated in
The arrangement of the foot pedals 20 illustrated in
The base 2a on which the foot pedals 20 are arranged is movable in the horizontal direction. Specifically, two sides in the axial direction (the X direction) of the base 2a are connected with a base of the remote control apparatus 100 with sliding bearings, and the operation pedal section 2 is slidable and movable in the depth direction (the front-rear direction, the Y direction). The operation pedal section 2 can be moved in the depth direction electrically by a driver device such as a motor provided in the base of the remote control apparatus 100. This makes it possible to adjust the positions of the foot pedals 20 depending on the operation posture, physique, or preference of the operator O.
The sensors 26 detects whether there is the foot that is operating one of the foot pedals 20. The emitters 261a and 261b and the receivers 262a and 262b detect the foot coming closer to the coagulation pedal 21b. Specifically, when both the receivers 262a and 262b detect the foot, the controller 61 determines that the foot pedal 20 to be operated is the coagulation pedal 21b. The emitters 261b and 261c and the receivers 262b and 262c detect the foot coming closer to the cutting pedal 22b. Specifically, when both the receivers 262b and 262c detect the foot, the controller 61 determines that the foot pedal 20 to be operated is the cutting pedal 22b.
The emitters 261c and 261d and the receivers 262c and 262d detect the foot coming closer to the coagulation pedal 21a. Specifically, when both the receivers 262c and 262d detect the foot, the controller 61 determines that the foot pedal 20 to be operated is the coagulation pedal 21a. The emitters 261d and 261e and the receivers 262d and 262e detect the foot coming closer to the cutting pedal 22a. Specifically, when both the receivers 262d and 262e detect the foot, the controller 61 determines that the foot pedal 20 to be operated is the cutting pedal 22a.
The emitter 261f and the receiver 262f detects the foot coming closer to the camera pedal 24. Specifically, when the receiver 262f detects the foot, the controller 61 determines that the foot pedal 20 to be operated is the camera pedal 24. The emitter 261g and the receiver 262g detects the foot coming closer to the clutch pedal 23. Specifically, when the receiver 262g detects the foot, the controller 61 determines that the foot pedal 20 to be operated is the clutch pedal 23.
The emitters 261a to 261g include light-emitting elements such LEDs. The emitters 261a to 261g are configured to emit visible light or invisible light such as infrared light. The receivers 262a to 262g include light-receiving elements. Each pair of emitters 261a to 261g and receivers 262a to 262g is arranged along the Y direction in the plan view. Specifically, as illustrated as a broken line in
An assignment example of the coagulation pedals 21 (21a and 21b) and the cutting pedals 22 (22a and 22b) on the operation pedal section 2 is described with reference to
In the example illustrated in
In
In
In
In
In some cases, a simple grasper which works without electricity is used when strong grip is mainly necessary. Such surgical instruments that cannot be supplied with current are not controlled with the coagulation pedals 21a and 21b and the cutting pedals 22a and 22b and are therefore not assigned to the coagulation pedals 21a (21b) and cutting pedals 22a (22b). The assignment of the coagulation pedals 21a and 21b and cutting pedals 22a and 22b is configured so that the manipulator 201 holding a surgical instrument that cannot be supplied with current is ignored.
The left-side foot pedals (the coagulation pedal 21a and the cutting pedal 22a) and right-side foot pedals (the coagulation pedal 21b and the cutting pedal 22b) may be assigned by another rule. For example, the manipulators 201 to the right and left of the manipulator 201 to which the endoscope 201d is attached may be always assigned to the foot pedals. For example, the one manipulator 201 to the left of the manipulator 201 to which the endoscope 201d is attached may be assigned to the left-side foot pedals (the coagulation pedal 21a and the cutting pedal 22a), while the left manipulator 201 among the two manipulators 201 located to the right of the manipulator 201 to which the endoscope 201d is attached is assigned to the right-side foot pedals (the coagulation pedal 21b and the cutting pedal 22b).
As illustrated in
As illustrated in
As illustrated in
The controller 61 receives the detection information on the presence of the foot of the operator O from the sensors 26 and determines whether there is the foot of the operator O. When it is determined that there is the foot of the operator O, the controller 61 controls the display device 3 to display the corresponding screen.
The storage 62 stores control programs corresponding to the types of the surgical instruments 201a to 201c, for example. The controller 61 reads the stored control programs according to the types of the attached surgical instruments 201a to 201c. The action mode instructions from the operation handles 1a and 1b and/or the operation pedal section 2 of the remote control apparatus 100 thereby causes the respective surgical instruments 201a to 201c to perform proper motions.
The image controller 63 transmits an image acquired by the endoscope 201d to the display device 3. The image controller 63 modifies the image if necessary.
As illustrated in
In an embodiment, the control apparatus 6 is configured to display the graphical user interface 32 on the display device 3 while overlapping the graphical user interface 32 on the image 31 captured by the endoscope 201d. The graphical user interface 32 includes the first area 321, the second area 322, and the third area 323 arranged in line, and also includes a surgical instrument position display area 324 which is provided at a position different from the line of the first, second, and third areas 321, 322, and 323, wherein the surgical instrument position display area 324 displays information indicating positional relationships of the surgical instruments 201a, 201b, and 201c with respect to a visual range (a field of view) of the endoscope 201d. Accordingly, the information indicating the positional relationships of the first, second, third surgical instruments 201a, 201b, and 201c with respect to the field of view of the endoscope 201d is displayed in the surgical instrument position display area 324. Therefore, the surgeon (the operator O) can intuitively grasp the positional relationships of the plurality of surgical instruments 201a, 201b, and 201c by viewing the surgical instrument position display area 324, and also can easily grasp the positional relationships of the plurality of surgical instruments 201a, 201b, and 201c with respect to the field of view of the endoscope 201d. Further, the surgical instrument position display area 324 that indicating the information on the positional relationships of the first, second, third surgical instruments 201a, 201b, and 201c with respect to the field of view of the endoscope 201d is displayed at the position different from the first, second, and third areas 321, 322, and 323 arranged in line. Therefore, it is possible to prevent the operator from having a difficulty to see the information by preventing the information from being overlapped.
As illustrated in
In the in-field portion 3241 of the surgical instrument position display area 324, the identification information of the surgical instruments 201a and 201b are displayed at positions corresponding to the positions of the distal ends of the surgical instruments 201a and 201b that are in the field of view of the endoscope 201d. With this, the operator can easily grasp the positional relationships between the distal ends of the surgical instruments 201a and 201b located in the field of view of the endoscope 201d based on the display of the surgical instrument position display area 324. Further, in the out-of-field portion 3242 of the surgical instrument position display area 324, the identification information of the surgical instrument 201c is displayed, to indicate the direction of the position of the surgical instrument 201c located outside the field of view of the endoscope 201d with respect to the field of view of the endoscope 201d. In the example illustrated in
Here, the control apparatus 6 obtains the position of each of the surgical instruments 201a to 201c based on the posture and the position of the corresponding manipulator 201. Further, the control apparatus 6 obtains the imaging direction of the endoscope 201d based on the posture and the position of the corresponding manipulator 201. Further, the control apparatus 6 obtains the field angle (field of view range) of the endoscope 201d based on the zoom state of the endoscope 201d. For example, the control apparatus 6 obtains the field angle (field of view range) of the endoscope 201d with reference to values of the mechanical mechanism (lens, etc.) of the endoscope 201d. Then, the control apparatus 6 obtains the coordinates of the distal end of each of the surgical instruments 201a to 201c with respect to the field of view of the endoscope 201d, based on the information on the field of view of the endoscope 201d, the posture and the position of the endoscope 201d, and the positions of the manipulators 201.
As illustrated in
As illustrated in
The pop-up areas 328a and 328b of the graphical user interface 32 are arranged on the left side in the right-left direction and near the center in the up-down direction of the display device 3. The pop-up areas 328c and 328d of the graphical user interface 32 are arranged on the right side in the right-left direction and near the center in the up-down direction of the display device 3. The status area 327 and the error notification area 330a of the graphical user interface 32 are arranged in the upper end region of the display device 3. The error notification area 330b is arranged above the second area 322 of the graphical user interface 32.
The first area 321 displays the type of the surgical instrument 201a being operated by the right-hand operation handle 1a. The second area 322 displays the type of the surgical instrument 201c for replacement. The third area 323 displays the type of the surgical instrument 201b being operated by the left-hand operation handle 1b. Thus, the operator O can easily grasp the types of the surgical instrument 201a being operated by the operation handle 1a and surgical instrument 201b being operated by the operation handle 1b, and the type of the surgical instrument 201c for changing the type of the operation.
The second area 322 is arranged between the first area 321 and the third area 323. The information in the second area 322 is displayed with paler color than the information in the first area 321 and third area 323. In other words, the information in the second area 322 is displayed to be more inconspicuous than the information in the first area 321 and third area 323. Note that as long as the first area 321 is arranged on the right side of the third area 323, the second area 322 may be arranged on the right side of the first area 321 or may be arranged on the left side of the second area 322.
As illustrated in
The first identification information 321a (324a), the second identification information 322a (324c), the third identification information 323a (324b) may include numbers, letters, or symbols which are different from each other. With this, the first identification information 321a (324a), the second identification information 322a (324c), and the third identification information 323a (324b) corresponding to the surgical instruments 201a, 201c, and 201b, respectively are distinguishable from each other in the simplified display forms. Specifically, in an example, the first identification information 321a in the first area 321 and the first identification information 324a in the surgical instrument position display area 324 are displayed with the same number (1). Also the second identification information 322a in the second area 322 and the second identification information 324c in the surgical instrument position display area 324 are displayed with the same number (3). Further, the third identification information 323a in the third area 323 and the third identification information 324b in the surgical instrument position display area 324 are displayed with the same number (4). Note that the first identification information 321a (324a), the second identification information 322a (324c), and the third identification information 323a (324b) may be displayed in different colors, respectively. Also the first identification information 321a (324a), the second identification information 322a (324c), and the third identification information 323a (324b) may be displayed with numbers, letters, or symbols corresponding to the manipulators 201, which supports the surgical instruments 201a, 201c, and 201b, respectively.
As illustrated in
In the fourth area 325, information indicating the endoscope 201d is displayed. The fourth area 325 is provided on the left side of the third area 323.
In the fifth area 326, information relating to the clutch function. The fifth area 326 is provided on the left side of the fourth area 325. In the fifth area 326, an operation state of the clutch pedal 23 is displayed.
In the status area 327, the status of the surgical system 400 is displayed. For example, the status area 327 displays duration of surgery procedure. The status area 327 also displays brightness adjustment information and contrast adjustment information of the display device 3.
The pop-up areas 328a to 328d are arranged in positions different from those of the first, second, and third areas 321, 322, and 323. The pop-up areas 328a to 328d display information, based on a fact that at least one of the sensors 26 detects setting of the foot of the operator O at the operation preparation position of the corresponding foot pedal 20.
As illustrated in
As illustrated in
As illustrated in
As illustrated in
As illustrated in
The control apparatus 6 is configured to change the display form of a corresponding area out of the first area 321, the third area 323, and the fourth area 325 based on a fact that at least one of the sensors 26 detects setting of the foot of the operator O at the operation preparation position of at least one foot pedal 20 out of the right-side foot pedals (the coagulation pedal 21b and the cutting pedal 22b), the left-side foot pedals (the coagulation pedal 21a and the cutting pedal 22a), and the camera pedal 24.
The changing of the display form of the area includes at least one of display color change, inverted display, display change of the area frame line, and zoom/zoom-out of the area.
The first area 321, third area 323, surgical instrument position display area 324, fourth area 325, and fifth area 326 of the graphical user interface 32 are configured to display the operation states of the right-side foot pedals (the coagulation pedal 21b and the cutting pedal 22b), the left-side foot pedals (the coagulation pedal 21a and the cutting pedal 22a), the switch pedal 25, the camera pedal 24, and the clutch pedal 23, respectively. Thus, the operator O can easily grasp the operation states of the foot pedals 20.
Specifically, the first area 321 displays the information on the right-side foot pedals (the coagulation pedal 21b and the cutting pedal 22b) in addition to the information on the surgical instrument 201a. For example, when the foot of the operator O is set at the operation preparation position of the coagulation pedal 21b or the cutting pedal 22b, the frame line of the first area 321 is displayed with the color of the corresponding foot pedal 20 (the coagulation pedal 21b or the cutting pedal 22b). When the coagulation pedal 21b or the cutting pedal 22b is operated, the first area 321 displays the information on the coagulation pedal 21b or the cutting pedal 22b such that the display is distinguished from that in the case where the foot of the operator O is set at the operation preparation position. For example, when the coagulation pedal 21b or the cutting pedal 22b is operated, the entirety of the first area 321 is displayed with the color of the corresponding foot pedal 20 (the coagulation pedal 21b or the cutting pedal 22b).
In other words, when the coagulation pedal 21b is operated, the first area 321 displays the information on the coagulation pedal 21b. When the cutting pedal 22b is operated, the first area 321 displays the information on the cutting pedal 22b.
The third area 323 displays the information on the left-side foot pedals (the coagulation pedal 21a and the cutting pedal 22a) in addition to the information on the surgical instrument 201b. For example, when the foot of the operator O is set at the operation preparation position of the coagulation pedal 21a or the cutting pedal 22a, the frame line of the third area 323 is displayed with the color of the corresponding foot pedal 20 (the coagulation pedal 21a or the cutting pedal 22a). When the coagulation pedal 21a or the cutting pedal 22a is operated, the third area 323 displays the information on the coagulation pedal 21a or the cutting pedal 22a such that the display is distinguished from that in the case where the foot of the operator O is set at the operation preparation position. For example, when the coagulation pedal 21a or the cutting pedal 22a is operated, the entirety of the third area 323 is displayed with the color of the corresponding foot pedal 20 (the coagulation pedal 21a or the cutting pedal 22a).
Further, the surgical instrument position display area 324 displays the information on the switch pedal 25 in addition to the information relating to the positional relationships of the surgical instruments 201a to 201c. For example, when the switch pedal 25 is operated, the background color of and the text color in the surgical instrument position display area 324 are inverted.
The fourth area 325 displays the information on the camera pedal 24 in addition to the information on the endoscope 201d. For example, when the foot of the operator O is set at the operation preparation position of the camera pedal 24, the frame line of the fourth area 325 is emphasized. Further, when the camera pedal 24 is operated, the fourth area 325 displays the information on the camera pedal 24 such that the display is distinguished from that in the case where the foot of the operator O is set at the operation preparation position. For example, when the camera pedal 24 is operated, the background color and the text color of the fourth area 325 are inverted.
The fifth area 326 displays the information on the clutch pedal 23. For example, when the foot of the operator is set at the operation preparation position of the clutch pedal 23, the frame line of the fifth area 326 is emphasized. Further, when the clutch pedal 23 is operated, the fifth area 326 displays the information on the clutch pedal 23 such that the display is distinguished from that in the case where the foot of the operator O is set at the operation preparation position. For example, when the clutch pedal 23 is operated, the background color of and the text color in the fifth area 326 are inverted.
Next, with reference to
As illustrated in
As illustrated in
As illustrated in
As illustrated in
As illustrated in
As illustrated in
As illustrated in
As illustrated in
Likewise, the frame line of the third area 323 is emphasized also when the foot of the operator O is set at the operation preparation position of the cutting pedal 22a corresponding to the surgical instrument 201b being operated by the left hand.
As illustrated in
Likewise, also when the cutting pedal 22a is operated, the background of the third area 323 displaying the information on the cutting pedal 22a is displayed with the second color of the cutting pedal 22a.
As illustrated in
Likewise, the frame line of the third area 323 is emphasized also when the foot of the operator O is set at the operation preparation position of the coagulation pedal 21a corresponding to the surgical instrument 201b being operated by the left hand.
As illustrated in
Likewise, also when the coagulation pedal 21a is operated, the background of the third area 323 displaying the information on the coagulation pedal 21a is displayed with the first color of the coagulation pedal 21a.
As illustrated in
As illustrated in
As illustrated in
The one or more embodiments disclosed above should be construed as an example in all aspects and should not limit the invention. The scope of the invention is indicated by the scope of claim instead of by the above-described one or more embodiments. All configurations and modifications including the meaning and range within equivalent arrangements of the claims are intended to be embraced in the invention.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2019-139176 | Jul 2019 | JP | national |
