Patent Application
20220395341
This application claims priority based on 35 USC 119 from prior Japanese Patent Application No. 2021-099008 filed on Jun. 14, 2021, entitled “TRAINING DEVICE AND TRAINING SYSTEM”, the entire contents of which are incorporated herein by reference.
The disclosure may relate to a training device and a training system and may particularly relate to a training device and a training system to be used for training in a surgical system including a robot arm.
In a related art, there has been known a training device that is used for training in a robotic surgical system including a robot arm (see Patent Document 1: U.S. Pat. No. 8,600,551).
Patent Document 1 discloses a simulator unit (a training device) used for training for improving skill in surgery using a robotic surgical system including a control console including an input device and a display and a manipulator configured to move surgical instruments in response to the movement of the input device. In order to execute a procedure simulated in a virtual environment, the simulator unit displays virtual surgical instruments on the display in such a manner that the displayed virtual surgical instruments move in response to the movement of the input device. The simulator unit displays on the display a plurality of selectable training menus to be performed in prepared virtual environments so that a user can select one of the training menus, and displays on the display virtual surgical instruments in a prepared virtual environment corresponding to the selected training menu, so that the user can train himself or herself in the displayed virtual environment by operating the input device.
However, the simulator unit (the training device) disclosed in Patent Document 1 can provide only the prepared training menus to be performed in the prepared virtual environments, and thus it may be difficult for a doctor to train himself or herself for various surgeries.
An object of an embodiment of the disclosure may be to provide a training device and a training system that allows a doctor to easily train himself or herself for various surgeries.
A first aspect of the disclosure may be a training device to be used for training for surgery using a surgical system that includes: a patient side apparatus including a first robot arm to which a first surgical instrument is attached and a second robot arm to which a second surgical instrument is attached; and a doctor side control apparatus including a first input device configured to operate the first robot arm, a second input device configured to operate the second robot arm, and a display. The training device includes: a training control unit configured to display, on the display, a first virtual surgical instrument that moves in response to operation on the first input device, and a second virtual surgical instrument that moves in response to operation on the second input device; and a storage storing therein a surgical video. The training control unit is configured to display on the display the surgical video stored in the storage with overlaying the first virtual surgical instrument and the second virtual surgical instrument on the surgical video.
According to the training device according to the first aspect, the training control unit is provided that is configured to display on the display the surgical video stored in the storage with overlaying the first virtual surgical instrument and the second virtual surgical instrument on the surgical video, as described above. With this, videos that are used in the training can be generated by recording and storing actual surgical videos. Therefore, it is possible to easily generate videos of various types of surgeries. Accordingly, it is possible for a doctor (a trainee) to easily perform the training for various types of surgeries. In addition, when a proctor (an instructor) wants to train the doctor (trainee) for a specific type of surgery, the doctor (trainee) can perform pre-training of the specific type of surgery using a surgical video of the specific type of surgery performed by the proctor in advance. Further, according to the first aspect, the first virtual surgical instrument and the second virtual surgical instrument operated in the training are displayed with being overlaid on the surgical video. Therefore, the training can be easily performed even when such a surgical video is used.
A second aspect of the disclosure may be a training system that includes: a first terminal device provided in a first facility in which a first surgical system is installed, wherein the first surgical system includes: a first patient side apparatus and a first doctor side control apparatus configured to operate the first patient side apparatus; and a training control device configured to display on a first display of the first doctor side control apparatus a surgical video with overlaying a first virtual surgical instrument and a second virtual surgical instrument on the displayed surgical video; a second terminal device provided in a second facility in which a second surgical system including a second patient side apparatus and a second doctor side control apparatus configured to operate the second patient side apparatus is installed; a server provided in a third facility different from the first facility and the second facility and configured to communicate with the first terminal device and the second terminal device; and a storage device provided in the third facility and configured to store therein surgical videos. The storage device is configured to receive a first surgical video, which is a video of surgery performed using the second surgical system of the second facility, from the second terminal device and store therein the first surgical video.
According to the second aspect, the training system displays on the display the surgical video stored in the storage with overlaying the first virtual surgical instrument and the second virtual surgical instrument on the surgical video. With this, videos that are used in the training can be generated by recording and storing actual surgical videos. Therefore, it is possible to easily generate videos of various types of surgeries. Accordingly, it is possible to provide a training system that allows a doctor (a trainee) to easily perform the training for various types of surgeries. In addition, when a proctor (an instructor) wants to train the doctor (trainee) for a specific type of surgery, the doctor (trainee) can perform pre-training of the specific type of surgery using a surgical video of the specific type of surgery performed by the proctor in advance. Further, according to the second aspect, the first virtual surgical instrument and the second virtual surgical instrument operated in the training are displayed with being overlaid on the surgical video. Therefore, the training can be easily performed even when such a surgical video is used. Further, according to the second aspect, the surgical video of the surgery performed by the surgical system in the second facility can be stored in the storage device of the third facility and used in the training device of the first facility. Therefore, the training can be easily performed using the surgical video even at a place distant from the place where the surgical video is captured.
According to at least one of the aspects described above, it may be possible for a doctor to easily train himself or herself for various types of surgeries.
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.
With reference to
The remote control apparatus 2 is disposed inside the surgery room or outside the surgery room, for example. The remote control apparatus 2 includes operation handles 21, foot pedals 22, a touch panel 23, a display (or a monitor) 24, a support arm 25, and a support bar 26. The operation handles 21 are hand controllers (HC) provided for the surgeon (the operator) to input instructions.
The operation handles 21 are configured to operate the medical instruments 4. Specifically, the operation handles 21 receive an amount of movement input by the operator to operate the medical instruments 4. The operation handles 21 include an operation handle 21L, which is arranged on the left side of the surgeon (the operator) and is to be operated by the left hand of the operator O, and an operation handle 21R, which is arranged on the right side of the operator and is to be operated by the right hand of the operator. The operation handle 21L and the operation handle 21R may be examples of a “first input device” and a “second input device”, respectively.
As illustrated in
Further, a movement amount of the arm 60 (medical instrument 4) is scaled (changed) with respect to the operation amount received by the operation handle 21. For example, when the movement scaling ratio is set to ½, the medical instrument 4 moves ½ of the movement distance of the operation handle 21. This allows for precise fine surgery.
As illustrated in
The switch pedal 22a is configured to select one or more of the arms 60 that are to be operated by the operation handles 21. The clutch pedal 22b is configured to perform a clutch operation that temporarily disconnects the operational connection between the arm 60 and the operation handle 21. While the clutch pedal 22b is depressed by the operator, the operation by the operation handle 21 is not transmitted to the arm 60.
In an embodiment, the camera pedal 22c is provided for inputting a command that allows the endoscope 6 to be moved. Specifically, in response to the camera pedal 22c being depressed (stepped) by the operator, the command that allows the endoscope 6 to be moved is inputted. That is, while the command that enables the endoscope 6 to move is being inputted by the camera pedal 22c (that is, while the camera pedal 22c is depressed by the operator), the endoscope 6 is able to be moved by moving both of the operation handle 21R and operation handle 21L.
While the cutting pedal 22d (coagulation pedal 22e) is depressed (stepped) by the operator, an electrosurgical device is activated.
As illustrated in
The medical trolley 3 is provided with a control unit 31 (circuitry and/or one or more processors) that controls the operation of the medical manipulator 1 and a storage 32 that stores therein programs for controlling the operation of the medical manipulator 1. Based on the instruction inputted to the remote control apparatus 2, the control unit 31 of the medical trolley 3 controls the operation of the medical manipulator 1.
Further, the medical trolley 3 is provided with an input device 33. The input device 33 is configured to accept operations to move or change posture of a positioner 40, an arm base 50, and arms 60, mainly to prepare for surgery before the surgery.
As illustrated in
The positioner 40 is configured as a 7-axis articulated robot. The positioner 40 is disposed on the medical trolley 3. The positioner 40 is configured to move the arm base 50. Specifically, the positioner 40 is configured to move the position of the arm base 50 three-dimensionally.
The positioner 40 includes a base portion 41 and link portions 42 connected to the base portion 41. The link portions 42 are connected to each other via joints 43.
As illustrated in
As illustrated in
As illustrated in
The forceps 4b is attached to the first support 4e so as to be rotatable about the axis JT11. The second support 4f rotatably supports the first support 4e about the axis JT10. In other words, the first support 4e is attached to the second support 4f so as to be rotatable about the axis JT10. A distal side (Z1 side) portion of the first support 4e a has a U-shape. A tool center point (TCP1, Clevis) is set at the center of the U-shaped distal side portion of the first support 4e along the axis JT11.
The medical instrument 4 (forceps 4b) includes an axis (joint) JT9 as a rotation axis of the shaft 4c (extending along the direction in which the shaft 4c extends) and an axis (joint) JT12 about which the forceps 4b open and close. Note that the plural (for example, four) the servomotors M2 are provided in the holder 71 of the arm 60 and rotors (rotation members) in the driven unit 4a are driven by the plural servomotors M2. As a result, the medical instrument 4 is driven about the J9 axis to the J12 axis.
Next, a configuration of the arm 60 is described in detail.
As illustrated in
As illustrated in
The translation movement mechanism 70 is provided on a side of the distal end of the arm portion 61. The medical instrument 4 is attached to the translation movement mechanism 70. The translation movement mechanism 70 translationally moves the medical instrument 4 in the insertion direction of the medical instrument 4 into a patient P. The translation movement mechanism 70 is configured to translationally move the medical instrument 4 relative to the arm portion 61. Specifically, the translation movement mechanism 70 is provided with the holder 71 configured to hold the medical instrument 4. The holder 71 accommodates therein the servomotors.
As illustrated in
Further, the number of arms 60 that can be operated by the operation handles 21 is two. For example, the operation handle 21L operates the left arm 60L (for example, the arm 60a) that supports the surgical instrument 4L. The operation handle 21R operates the right arm 60R (for example, the arm 60d) that supports the surgical instrument 4R. Note that the right arm 60R (arm 60d) may be an example of a “first robot arm.” Note that the left arm 60L (arm 60a) may be an example of a “second robot arm.” The surgical instrument 4R and surgical instrument 4L may be examples of a “first surgical instrument” and a “second surgical instrument”.
The surgical system 100 is provided with a monitor cart 8 as illustrated in
As illustrated in
As illustrated in
Further, the control unit 201 receives the operation of the operation handles 21 (21R and 21L) of the remote control apparatus 2 and the operation of the foot pedals 22 at the time of training, and transmits information of the operations thereof to the training control unit 202. Further, the control unit 201 transmits to the display 24 the image to be used for training that is transmitted from the training control unit 202. Further, the control unit 201 transmits to the display 8a the image to be used for training that is transmitted from the training control unit 202.
The storage 203 stores therein one or more surgical videos 210 each of which is recorded (captured) during surgery of the surgical site where the surgical instrument 4R and the surgical instrument 4L operates. For example, the storage 203 stores a plurality of surgical videos 210.
Here, in an embodiment, as illustrated in
In the training using the training device 200, the operator performs training by operating the operation handles 21R and 21L to make the virtual surgical instruments 241R and 241L that are moved in response to the operation handles follow (overlap with) the displayed surgical instruments 4R and 4L in the surgical video 210, respectively. That is, the operator (a doctor who is a trainee) performs the training by tracing the operation performed by a proctor (a doctor who is a trainer or an instructor) in the surgical video of the surgery performed by the proctor while watching the surgical video 210.
As illustrated in
As illustrated in
As illustrated in
The storage 203 stores the two types of surgical videos, one of which is the first type which includes the graphical user interface (for example, a recorded graphical user interface) displaying information about the surgical instrument 4R and information about the surgical instrument 4L in the surgery when the surgical video is recorded, and the other of which is the second type which does not include the graphical user interface. The surgical video of the first type and the surgical video of the second type are the same in the surgical video captured by the endoscope, except for presence or absence of the graphical user interface which displays the information about the surgical instruments 4R and 4L.
When the “with GUI” button 246 for displaying GUI is selected through the selection screen 24c, the training control unit 202 displays on the display 24 the first type surgical video which includes the graphical user interface. On the other hand, when the “without GUI” button 246 for displaying no GUI is selected through the selection screen 24c, the training control unit 202 displays on the display 24 the second type surgical video which does not include the graphical user interface. At that time, the training control unit 202 generates a graphical user interface displaying information about the virtual surgical instruments 241R and 241L, and superimposes the generated graphical user interface for the virtual surgical instruments 241R and 241L on the second type surgical video on the display 24.
As illustrated in
As illustrated in
First, a case where the first type surgical video including the graphical user interface is selected through the selection screen 24c will be described.
As illustrated in
The graphical user interface 242 includes a first area 242a indicating information about the surgical instrument 4R to be operated by the right hand operation handle 21R, a second area 242b indicating information about the surgical instrument 4L to be operated by the left hand operation handle 21L, and a third area 242c indicating information about the endoscope 6. The graphical user interface 242 also includes a fourth area 242d that indicates information about a replacement surgical instrument. The graphical user interface 242 also includes a fifth area 242e that indicates an operating state of the clutch pedal 22b.
In the first area 242a, the type of the first surgical instrument 4R is displayed. In the second area 242b, the type of the second surgical instrument 4L is displayed. Further, when the foot pedal 22 (the incision pedal 22dR or the coagulation pedal 22eR) for the surgical instrument 4R is operated, the first area 248a is displayed in a color corresponding to the operation. For example, the first area 242a is displayed (highlighted) in yellow when the incision pedal 22dR is operated. Also, the first area 242a is displayed (highlighted) in blue when the coagulation pedal 22eR is operated.
When the foot pedal 22 (the cutting pedal 22dL or the coagulation pedal 22eL) for the surgical instrument 4L is operated, the second area 242b is displayed in a color corresponding to the operation. For example, the second area 242b is displayed (highlighted) in yellow when the cutting pedal 22dL is operated. To the contrary, the the second area 242b is displayed (highlighted) in blue when the coagulation pedal 22eL is operated.
When the foot pedal 22 (the camera pedal 22c) for the endoscope 6 is operated, the third area 242c is displayed in a color corresponding to the operation. For example, when the camera pedal 22c is operated, the background color and the text color of the third area 242c are inverted.
The fourth area 242d displays the type of the replacement surgical instrument. The information in the fourth area 242d is displayed with paler color than the information in the first area 242a and the second area 242b.
An image (video image) captured by the endoscope 6 during the surgery is recorded as the surgical video 210 of the second type, and the image (video image) captured by the endoscope 6 during the surgery and the graphical user interface 242 as described above during the surgery are combined and recorded as the surgical video 210 of the first type. In addition, the surgical video 210 may be recorded together with the voice of the surgeon during the surgery.
Then, at the time of training, the training control unit 202 overlays the virtual surgical instruments 241R and 241L on the surgical video 210 (the first type surgical video) including the graphical user interface 242.
The training control unit 202 recognizes the operation of the foot pedals 22 in the surgery based on the graphical user interface 242 in the surgical video 210. The training control unit 202 acquires the operator's operation of the foot pedals 22 during the training. The training control unit 202 may determine whether or not the foot pedals 22 are operated at appropriate timings in the training by comparing the operation of the foot pedals 22 during the surgery in the recorded surgical video with the operation of the foot pedals 22 during the training.
The training control unit 202 may automatically sets the types of the virtual surgical instruments 241R and 241L by recognizing the types of the surgical instruments 4R and 4L in the surgical video 210 based on the graphical user interface 242 of the surgical video 210.
Next, a case where the second type surgical video which does not include the graphical user interface is selected through the selection screen 24c will be described.
As illustrated in
The graphical user interface 248 includes a first area 248a indicating information about the virtual surgical instrument 241R to be operated by the right hand operation handle 21R, a second area 248b indicating information about the virtual surgical instrument 241L to be operated by the left hand operation handle 21L, and a third area 248c indicating information about the endoscope 6. The graphical user interface 248 also includes a fourth area 248d that provides information about the replacement surgical instrument. Further, the graphical user interface 248 includes a fifth area 248e indicating an operating state of the clutch pedal 22b.
In the first area 248a, the type of the first virtual surgical instrument 241R is displayed. In the second area 248b, the type of the second virtual surgical instrument 241L is displayed. Further, when the foot pedal 22 (the incision pedal 22dR or the coagulation pedal 22eR) for the virtual surgical instrument 241R is operated, the first area 248a is displayed in a color corresponding to the operation. For example, the first area 248a is displayed (highlighted) in yellow when the incision pedal 22dR is operated. Also, the first area 248a is displayed (highlighted) in blue when the coagulation pedal 22eR is operated.
When the foot pedal 22 (the cutting pedal 22dL or the coagulation pedal 22eL) for the virtual surgical instrument 241L is operated, the second area 248b is displayed in a color corresponding to the operation. For example, the second area 248b is displayed (highlighted) in yellow when the cutting pedal 22dL is operated. To the contrary, the the second area 248b is displayed (highlighted) in blue when the coagulation pedal 22eL is operated.
When the foot pedal 22 (the camera pedal 22c) for the endoscope 6 is operated, the third area 248c is displayed in a color corresponding to the operation. For example, when the camera pedal 22c is operated, the background color and the text color of the third area 248c are inverted.
The fourth area 248d displays the type of the replacement surgical instrument. The information in the fourth area 248d is displayed with paler color than the information in the first area 248a and the second area 248b.
In the training, the training control unit 202 overlays the virtual surgical instruments 241R and 241L and the graphical user interface 248 on the surgical video 210 (the second type surgical video) which does not include the graphical user interface 242.
Further, when the second type surgical video 210 is played (displayed) on the display 24, the training control unit 202 recognizes the operation of the foot pedals 22 in the surgery based on the graphical user interface 242 in the first type surgical video 210 corresponding to the displayed second type surgical video 210. That is, the first type surgical video is not displayed on the display 24, but is used for recognizing the timings of the operation of the foot pedals 22 during the surgery. The training control unit 202 also acquires the operator's operation of the foot pedals 22 during the training. The training control unit 202 may determine whether or not the foot pedals 22 are operated at appropriate timings in the training by comparing the operation of the foot pedals 22 during the surgery in the recorded surgical video with the operation of the foot pedals 22 during the training.
As illustrated in
The terminal device 301 and the server 303 can communicate with each other via a communication network 310. The terminal device 302 and the server 303 can communicate with each other via the communication network 310.
In response to an upload request to upload the surgical video 210 of the surgery performed using the surgical system 100 of the second facility E2, the server 303 receives the surgical video 210 from the terminal device 302 of the second facility and stores the surgical video 210 in the storage device 304 of the third facility.
In response to a download request from the terminal device 301 to download the surgical video, the server 303 permits the terminal device 301 to download the surgical video stored in the storage device 304.
For example, in the surgical video 210 of the surgery performed by the proctor using the surgical system 100 at the second facility E2, a name of the proctor is registered as a surgeon. In addition, the surgeon causes the server 303 to upload the surgical video 210 in order to allow doctors (trainees) to use the surgical video 210. In this case, the range in which the surgical video 210 can be downloaded can be limited to the trainees. In addition, a usage fee may be incurred for the use of the surgical video 210. In such a case, the usage fee is managed by the server 303. That is, the server 303 manages the collection of the usage fees from the users and manages the payment to the surgeon of the surgical video 210. That is, the payment may be made to the surgeon of the surgical video 210 according to the download status (such as the number of downloads or the like).
(Effects)
According to one or more embodiments, effects as described below can be obtained.
In an embodiment described above, the training control unit 202 is provided which is configured to display on the display 24 the surgical video 210 stored in the storage 203 with overlaying the virtual surgical instruments 241R and 241L on the surgical video 210. With this configuration, videos to be used for the training can be generated by recording and storing actual surgical videos. Therefore, it is possible to easily generate the surgical videos 210 on various types of surgeries for the training. Accordingly, it is possible for a doctor to easily perform the training for the various types of surgeries. In addition, when the proctor (instructor) wants to train the doctor (trainee) for a specific type of surgery, the doctor (trainee) can perform pre-training of the specific type of surgery using the surgical video 210 of the specific type of surgery performed by the proctor. Further, in an embodiment described above, the virtual surgical instruments 241R and 241L operated in the training are displayed with being overlaid on the surgical video 210. Therefore, the training can be easily performed even when such a surgical video 210 is used.
Further, in an embodiment described above, the storage 203 stores the plural surgical videos 210 and the training control unit 202 is configured to display on the display 24 the selection screen 24c for selecting one surgical video 210 from the plural surgical videos 210. Accordingly, the surgical video 210 suitable for the training can be selected from the plural surgical videos 210 through the selection screen 24c, so that the training for the desired surgery can be easily performed.
In an embodiment described above, the training control unit 202 is configured to display on the display 24 the selection screen 24c through which the operator can select one of the surgical videos 210 based on which type of the surgery and/or who (surgeon) performed the surgery. Therefore, it possible to easily select the surgical video 210 corresponding to a specific type of the surgery for the training or corresponding to the surgery performed by a specific proctor. Thus, the doctor (trainee) who wants to train himself or herself can easily select the surgical video 210 suitable for the training.
In an embodiment described above, the training control unit 202 is configured to display, on the display 24, the setting screen 24d that prompts to select one among the plural types of surgical instruments as the first virtual surgical instrument 241R and to select one among the plural types of surgical instruments as the second virtual surgical instrument 241L. Therefore, the surgical instruments whose types are the same as those of the surgical instruments 4R and 4L in the surgical video 210 can be set as the virtual surgical instruments 241R and 241L, respectively. Thus, the training can be performed by operating the virtual surgical instruments 241R and 241L overlaid on the surgical video 210 to make the virtual surgical instruments 241R and 241L overlap with (follow) the surgical instruments 4R and 4L in the surgical video 210, respectively.
In an embodiment described above, the training control unit 202 is configured to overlay the virtual surgical instruments 241R and 241L on the surgical video 210 in such a manner that the virtual surgical instruments 241R and 241L are displayed in lighter (thinner, paler) color or translucent on the surgical video 210. Therefore, it is possible to prevent the surgical video 210 from becoming difficult to see during the training due to the overlaid virtual surgical instruments 241R and 241L. In addition, the virtual surgical instruments 241R and 241L can be easily distinguished from the surgical instruments 4R and 4L.
Further, in an embodiment described above, the surgical video 210 (first type surgical video) includes the graphical user interface 242 that displays the information about the surgical instrument 4R and the information about the surgical instrument 4L at the time of the surgery recorded in the surgical vide 210, and the training control unit 202 is configured to overlay the virtual surgical instruments 241R and 241L on the surgical video 210 (first type surgical video) which includes the graphical user interface 242. Therefore, the information on the surgical instrument 4R and the information on the surgical instrument 4L when the surgical video 210 is captured can also be checked (viewed) during the training. Thus, the training can be performed more appropriately while checking the states of the surgical instruments 4R and instrument 4L during the surgery.
Further, in an embodiment described above, the surgical video 210 (second type surgical video) does not include the graphical user interface 242 that displays the information about surgical instrument 4R and the information about surgical instrument 4L at the time of the surgery recorded in the surgical vide 210, and the training control unit 202 is configured to overlay the virtual surgical instruments 241R and 241L and the graphical user interface 248 on the surgical video 210 (the second type surgical video) which does not include the graphical user interface 242. Therefore, the training that imitates an actual surgery can be done by only following the movements of the surgical instruments 4R and 4L in the surgical video 210. Further, the training can be done using both of the first type surgical video 210 and the second type surgical video 210 performed by the same surgeon (proctor). Therefore, more fulfilling training can be done.
In an embodiment described above, the training is performed using the operation handles 21R and 21L of the remote control apparatus 2, which are used to operate the medical manipulator 1 at the time of the surgery. Therefore, the training can be done using the remote control apparatus 2 to be used at the time of the surgery, so that it is not necessary to separately provide a remote control apparatus 2 dedicated for such a training.
In an embodiment described above, the server 303 is configured, in response to the request to upload the surgical video 210 of the surgery performed using the surgical system 100 in the second facility E2, to receive the surgical video 210 from the terminal device 302 in the second facility E2 and store the surgical video 210 in the storage device 304. Therefore, the surgical video 210 of the surgery performed by the proctor (instructor) at the second facility E2 and uploaded to the storage device 304 can be downloaded to the training device 200 in the first facility E1. Thus, the doctor (trainee) can perform the training at the first facility E1 different from the second facility E2.
In an embodiment described above, the server 303 is configured, in response to the download request from the terminal device 301 in the first facility E1 to download the surgical video, to permit to download the surgical video stored in the storage device 304. As a result, by downloading the surgical video stored in the storage device 304, the training can be easily performed at the first facility E1 using the downloaded surgical video 210.
Note that one or more embodiments disclosed herein should be considered as exemplary in all respects and do not limit the invention. The scope of the invention is indicated by claims, not by explanation of one or more embodiments described above, and includes equivalents to the claims and all alterations (modification) within the same.
For example, in one or more embodiments described above, the case has been described in which the training is performed using the first input device and the second input device of the doctor side control apparatus, which is to be used at the time of surgery to operate the patient side apparatus. However, the invention is not limited thereto. In the invention, a first input device and a second input device used for the training may be provided separately from the doctor side control apparatus, which is to be used at the time of surgery.
Further, in one or more embodiments described above, the case has been described in which the graphical user interface is recorded in the surgical video together with the image captured by the endoscope during the surgery. However, the invention is not limited thereto. For example, the graphical user interface may not be recorded in the surgical video. In such a case, the surgical video which is captured by the endoscope during the surgery may be overlaid with a graphical user interface that indicates the state during the training.
In one or more embodiments described above, the case has been described in which the patient side apparatus is provided with the medical instrument for replacement. However, the disclosure is not limited thereto. For example, the patient side apparatus is not provided with such a medical instrument for replacement.
In one or more embodiments described above, the case has been described in which the number of the robot arms provided is four. However, the invention is not limited thereto. The number of the robot arms may be any number as long as at least two are provided.
In one or more embodiments described above, the case has been described in which each of the robot arms and the positioner are configured as the 7-axis articulated robot. However, the invention is not limited thereto. For example, each of the robot arms and the positioner may be configured as an articulated robot other than the 7-axis articulated robot (for example, a 6-axis articulated robot, an 8-axis articulated robot, or the like).
Further, in one or more embodiments described above, the case has been described in which the patient side apparatus includes the medical trolley, the positioner, and the arm base. However, the invention is not limited thereto. For example, the patient side apparatus may include only robot arms and not include the medical trolley, the positioner, and the arm base.
The invention includes other embodiments or modifications in addition to one or more embodiments and modifications described above without departing from the spirit of the invention. The one or more embodiments and modifications described herein are to be considered in all respects as illustrative, and not restrictive. The scope of the invention is indicated by the appended claims rather than by the foregoing description. Hence, all configurations including the meaning and range within equivalent arrangements of the claims are intended to be embraced in the invention.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2021-099008 | Jun 2021 | JP | national |
