JP5800609B2 - Medical master-slave manipulator - Google Patents

Description

  The present invention relates to a medical master-slave manipulator including a master input device and a slave arm.

In the medical field, a medical robot system (medical master-slave manipulator) including a master input device and a slave arm has been proposed. In the medical robot system described in Patent Document 1, the master input device is provided with a control switch mechanism for selecting a slave arm for controlling the operation. That is, the first slave arm is controlled by the master input device in the first mode and the second slave arm is controlled by the master input device in the second mode, and which one is controlled is switched by the control switch mechanism.
Examples of the control switch mechanism include voice commands, physically arranged switches, foot pedals, icons displayed on a display, and graphic user interface selection means.

Furthermore, the medical robot system of Patent Document 1 is provided with a control switch mechanism different from that described above. The control switch mechanism controls the operation by a master input device, displays an auxiliary image by controlling a laparoscopic ultrasound (LUS) probe, and displays the auxiliary image on the original display image. Switch to an image operation mode such as
In the image operation mode, another auxiliary image such as an ultrasonic diagnostic image acquired by an LUS probe or the like can be overlaid on an image of an endoscope or the like, and the master input device can function as a pointing device.

Special table 2009-512514 gazette

  When performing a medical procedure or the like via a master / slave manipulator, an image of a site to be treated is acquired by an endoscope or the like attached to the slave arm, and the operator performs the procedure while viewing the image displayed on the display. . At this time, the moving direction of the slave arm in the displayed image does not match the moving direction of the master arm that is actually operated by the operator among the master input devices, and it becomes difficult for the operator to perform master input intuitively. There is a problem.

  In the medical robot system disclosed in Patent Literature 1, image information is manipulated by switching a displayed image using a control switch mechanism and associating a master input device with a pointing device. Thus, switching the control method of the slave manipulator is not considered, and the above-described problem still remains.

  The present invention has been made in view of the above circumstances, and an object thereof is to provide a medical master-slave manipulator in which an operator can operate a master manipulator intuitively to operate a slave manipulator.

The medical master slave manipulator of the present invention includes a master input unit for issuing an operation command, a slave manipulator operated by the master input unit, and a control unit that transmits an operation signal to the slave manipulator based on the operation command And a first screen that displays a first video of the subject, and a second screen that displays a second video of the subject that is different from the first video, and the first video And an image selection means for an operator to select one of the second images , and the control unit responds to the operation command by the operator via the image selection means. The operation signal for operating the slave manipulator is generated by performing a conversion process associated with the selected video.

  The video selection means may include a detection unit that detects the video facing the operator's face, or may include input means for inputting the video selected by the operator.

At least one of the first video and the second video may be generated by performing image processing on another video. For example, it may be generated by rotating another video or may be generated by enlarging or reducing another video.
The first video and the second video may be acquired by a plurality of different observation means.

  The master input unit includes an operation unit, the slave manipulator includes slave arms, the number of which is greater than the number of the operation units, and the operation is performed in at least one of the conversion processes associated with the video. The correspondence between the unit and the slave arm may be different from other conversion processes.

  The medical master slave manipulator of the present invention may include a plurality of the slave manipulators.

According to the medical master-slave manipulator of the present invention, the operator can operate the master input device intuitively to operate the slave manipulator.

It is a figure which shows the medical manipulator system to which the medical master slave manipulator of 1st embodiment of this invention is applied. It is a functional block diagram of the medical master slave manipulator. It is a flowchart which shows the flow of operation | movement of the medical master slave manipulator. It is a flowchart which shows the determination routine in the determination part of the medical master slave manipulator. It is a figure which shows the medical manipulator system to which the medical master slave manipulator of 2nd embodiment of this invention is applied. It is a flowchart which shows the flow of operation | movement of the medical master slave manipulator. It is a figure which shows the medical manipulator system to which the medical master slave manipulator of 3rd embodiment of this invention is applied. It is a functional block diagram of the medical master slave manipulator. It is a flowchart which shows the flow of operation | movement of the medical master slave manipulator. It is a figure which shows the master input part of the medical master slave manipulator of 4th embodiment of this invention. It is a functional block diagram of the medical master slave manipulator. It is a flowchart which shows the flow of operation | movement of the medical master slave manipulator. It is a figure which shows the master input part in the medical master slave manipulator of the modification of this invention.

  Hereinafter, a first embodiment of the present invention will be described. FIG. 1 is a diagram showing a medical master-slave manipulator (hereinafter simply referred to as “master-slave manipulator”) 1 of the present embodiment. The master-slave manipulator 1 includes a master arm 21, and includes a master input unit 2 for issuing an operation command and a slave manipulator 3 having a slave arm 31, and an operation of the master arm 21 by an operator (operator) Op. The slave arm 31 is remotely controlled so as to follow. An operation command via the master arm 21 is transmitted to the master control unit 41 of the control unit 4, and after being subjected to conversion processing described later as necessary, is input to the manipulator control unit 42. Thereafter, an operation signal is sent from the manipulator control unit 42 to the slave manipulator 3, and the slave arm 31 operates.

  As shown in FIG. 1, the slave manipulator 3 is installed on an operating table 100 on which a patient P is placed and has a plurality of slave arms 31. Each slave arm has a plurality of multi-degree-of-freedom joints, and can perform multi-axis operation. Each multi-degree-of-freedom joint is individually driven by a power unit (not shown). As the power unit, for example, a motor (servo motor) having a servo mechanism including an incremental encoder, a speed reducer, or the like can be used.

  One of the plurality of slave arms 31 is attached with observation means (not shown) such as an endoscope for acquiring an image of a surgical field including a procedure target region (subject), and other slave arms perform various treatments. A treatment tool (not shown) is attached. Known observation means and treatment tools can be appropriately selected and used. Each slave arm also has a plurality of power units (not shown) for driving the attached treatment instrument and the like. For example, a servo motor can be used as the power unit. In the following description, a slave arm to which a treatment tool is attached among the slave arms may be referred to as a “treatment slave arm”.

  The master input unit 2 includes a plurality of master arms 21 operated by the surgeon Op, and a display unit 22 on which an image acquired by the above observation means is displayed. Each master arm 21 has a known configuration capable of multi-axis operation, and includes a grasping portion 21A as an operation portion that is grasped by the operator and issues an operation command on the distal end side close to the operator Op.

The display unit 22 includes a display 23 on which an image is displayed, and a detection unit (image selection means) 24 that is attached to the display 23 and detects the orientation of the operator's face.
The display 23 has two screens, a first screen 25 and a second screen 26. The first screen 25 displays an image of the operative field acquired by the observation means, and the second screen 26 displays an image of the operative field obtained by rotating the image by a predetermined rotation angle (for example, 90 degrees) "Rotational field image") is displayed. In the present embodiment, two images having a shift corresponding to parallax are projected on each of the screens 25 and 26, and the operator Op sees through the known 3D glasses 101 having a polarization mechanism, a shutter mechanism, and the like. The images on each screen can be viewed in three dimensions.

The detection unit 24 includes a first detection unit 24A provided above the first screen 25 and a second detection unit 24B provided above the second screen. Each of the detection units 24A and 24B includes a light receiving element, and detects the direction of the face of the operator Op by receiving light emitted from the light emitting unit 102 attached to the 3D glasses 101.
Note that the configuration of the detection unit is not limited to this, and various known mechanisms can be appropriately selected and employed, and light reception / emission may not be used as a detection principle. For example, an image of the operator's face or eyeball may be acquired, and the direction of the line of sight may be detected from the image.

FIG. 2 is a functional block diagram of the master / slave manipulator 1. An image processing unit 50 is provided between the observation unit 32 and the display unit 22. The image processing unit 50 is a known processing circuit or processing program, and the video signal transmitted from the observation unit 32 is processed by the image processing unit 50 so that the video can be displayed. The processed signal is displayed on the first screen 25 of the display unit 22 through the first conversion process Pr1, and is displayed on the second screen 26 through the second conversion process Pr2. In the present embodiment, the video acquired by the observation means 32 is displayed as it is on the first screen 25, and the acquired video is rotated 90 degrees clockwise and displayed on the second screen 26. That is, the second conversion process Pr2 is a process that rotates 90 degrees clockwise, and the first conversion process Pr1 is a conversion process of “no conversion”. In the present invention, “no conversion” is defined as one of the conversion processes.
Note that the switching image that has been subjected to the rotation processing by the image processing maintains the 3D display that the operator can visually recognize even after switching. For example, in 3D display, two images corresponding to the parallax of both eyes are displayed on the same screen, but the two images are reconverted so as to maintain the 3D display in consideration of the binocular parallax according to the rotation amount during image processing. Is displayed on the display unit 22.

  A determination unit 55 is provided between the detection unit 24 and the master control unit 41. Based on the information transmitted from the detection unit 24, the determination unit 55 determines whether the face of the operator Op is facing each of the screens 25 and 26 of the display 22, or is not facing either, The determination result is transmitted to the master control unit 41.

The operation of the master-slave manipulator 1 configured as described above will be described.
FIG. 3 is a flowchart showing an operation flow of the master / slave manipulator 1.
First, in step S10, the operator Op determines the rotation angle θ (for example, 90 degrees clockwise) of the rotational field image displayed on the second screen 26 via the interface (not shown) of the master input unit. And a conversion angle θ for generating a video to be displayed on the second screen is set.

  When the video signal is sent from the observation means 32, the image processing unit 50 performs the first image processing Pr1 on the video signal and displays it on the first screen 25 in step S20. Further, the second image processing Pr2 is performed on the same video signal in parallel, and then displayed on the second screen 26. Thereby, the image acquired by the observation unit 32 is displayed as it is on the first screen 25, and the image obtained by rotating the image acquired by the observation unit 32 by the rotation angle θ is displayed on the second screen 25. An image is displayed on the display unit 22. The processing and the video display by the image processing unit 50 are continued while the video signal is transmitted from the observation unit 32.

  During the operation of the master-slave manipulator 1, the determination unit 55 repeatedly determines whether the operator's face is facing the screen of the display unit 22 or is not facing based on the information received from the detection unit 24. judge.

  FIG. 4 is a flowchart showing a determination routine of the determination unit 55. In step S101, it is determined whether or not the operator's face is facing the first screen 25 based on the information transmitted from the first detection unit 24A. If the determination in step S101 is Yes, the determination unit 55 determines that the surgeon is moving toward the first screen 25, that is, selects the video displayed on the first screen 25, and ends the process. If No, the process proceeds to step S102.

  In step S <b> 102, it is determined whether or not the surgeon is facing the second screen 26 based on the information transmitted from the second detection unit 24 </ b> B. If the determination in step S102 is Yes, the determination unit 55 determines that the operator's face is facing the second screen 26, that is, selects the video displayed on the second screen 26, and performs processing. finish. If the determination in step S102 is No, it is determined that the surgeon is not facing either the first screen 25 or the second screen 26, and the process ends.

  Further, when the determination unit 55 determines that the surgeon is heading for either the first screen 25 or the second screen 26, the determination unit 55 transmits the information to the image processing unit 50. The image processing unit 50 that has received the information displays the marker 103 (see FIG. 1) on the screen determined that the operator is facing, and assists the operator in recognition. Here, the marker is not limited to the screen display, and a light emission indicator such as an LED may be installed at the top of the screen, and the operator's recognition may be assisted by lighting.

  Returning to FIG. 3, when the surgeon issues an operation command to the grasping portion 21 </ b> A of the master input unit 2, in step S <b> 30, the determination unit 55 determines the screen on which the surgeon Op is facing from the master control unit 41 that has received the input. The information is transmitted from the determination unit 55 to the master control unit 41 based on the determination content of the determination unit 55 at that time. At this time, the determination unit 55 transmits information including the determination content based on the above-described determination routine and the operation command conversion processing content by the master control unit 41 associated with the determination content.

In subsequent step S <b> 31, it is verified based on the information transmitted from the determination unit 55 whether or not the surgeon is heading to either the first screen 25 or the second screen 26. If the determination is Yes, the process proceeds to step S40. If the determination is No, the process proceeds to step S32.
In step S32, information indicating that the surgeon is not directed to either the first screen 25 or the second screen 26 is transmitted from the determination unit 55 to the image processing unit 50, and a warning process for the surgeon Op is performed. Is called. For example, information such as “Please turn your face to the screen” and “Please wear 3D glasses” is displayed on the display unit 22. At this time, the operation of the slave manipulator 3 may be stopped in response to the operation command from the master input unit 2.

  In step S40, it is determined whether or not the setting of the master control unit 41 needs to be switched. For example, when the master control unit 41 is performing an operation command conversion process corresponding to the first screen 25, information that “the operator Op is heading for the second screen 26” is transmitted from the determination unit 55. In such a case, since it is necessary to switch the setting of the master control unit 41, the determination result is Yes, and the process proceeds to step S41.

In step S41, based on the information received from the determination unit 55, the master control unit 41 determines the position and orientation of the gripping unit 21A of the master input unit 2 and the treatment slave arm 31 in the video displayed on the second screen 26. Initialize to match the position and posture of the tip. The master control unit 41 calculates a difference between the position and posture of the gripping unit 21A and the position and posture of the distal end portion of the treatment slave arm 31 in the second screen 26, and the master input unit so that the difference becomes zero. 2 is operated to initialize the gripping portion 21A. At this time, a message such as “Initializing. Please release your hand from the gripping part” may be displayed on the display unit 22 to alert the surgeon.
The “position” of the master arm and the slave arm is a three-dimensional position represented by an XYZ coordinate system of a predetermined part of the master arm and the slave arm (for example, the gripping part 21A and the distal end of the treatment instrument). “Position” means the direction of the tip with the predetermined portion as a base point. Position / posture alignment in the master-slave manipulator is a known technique, and the specific method is not limited to the above.

  In subsequent step S <b> 42, the operation command conversion processing content in the master control unit 41 is updated with information from the determination unit 55. Thereby, the master control unit 41 converts the operation command so that the operation direction of the grasping unit 21A matches the operation direction of the distal end portion of the treatment slave arm 31 in the image selected by the operator Op. After the conversion processing content is updated, in step S43, the master control unit 41 performs a conversion process associated with the screen selected by the operator Op in response to the operation command, transmits an operation signal to the manipulator control unit 42, and performs the processing. finish.

  When the information of the determination unit 55 matches the setting of the master control unit 41, the determination result is No, and the process proceeds to step S44. In step S44, the master control unit 41 performs an operation command conversion process with the setting at that time, transmits an operation signal to the manipulator control unit 42, and ends the process.

  According to the master-slave manipulator 1 of the present embodiment, the determination unit 55 determines whether the face of the operator Op is facing the screen 25 or 26 of the display unit 22 based on information of the detection unit 24. Then, based on the determination result, the master control unit 41 outputs an operation command so that the moving direction of the distal end portion of the treatment slave arm 31 and the moving direction of the grasping portion 21A in the video selected by the operator Op are the same. The content of the conversion process is updated so that the conversion process associated with the selected video is performed. Therefore, the surgeon simply adjusts the conversion processing content of the master control unit by simply going to a screen that is more suitable for the procedure and operation to be performed, and intuitively operates the gripping unit while viewing the screen, The slave manipulator can be operated intuitively without stress.

  In addition, since the position and orientation of the gripper 21A are initialized when the conversion processing content of the master control unit 41 is updated, not only the operation direction of the gripper 21A but also the position / posture relationship is automatically treated. Aligned with the tip of the slave arm 31 for use. Therefore, the operation can be performed more intuitively.

  Furthermore, since the rotational field image displayed on the second screen 26 is generated by image processing of the video acquired by the observation unit 32, the observation unit 32 allows the surgeon Op to perform a procedure from different viewpoints. There is no need to drive. Therefore, the viewpoint of the operative field can be switched immediately, and a series of procedures can be performed smoothly. Further, since the problem of interference with other slave arms due to driving of the observation means can be eliminated, the safety of the procedure is improved.

  Furthermore, since the first screen 25 and the second screen 26 are displayed side by side, the surgeon Op can visually see the other screen in the peripheral visual field while performing the procedure while looking at the one screen. . Therefore, if the other screen that has been confirmed is a manipulator arrangement that makes it easier to perform the procedure during the procedure, and if you go to the other screen as necessary, you can smoothly switch the screen used for the procedure, The procedure can be continued intuitively without worrying about coordinate shift after switching.

  In the present embodiment, an example has been described in which the master control unit 41 drives the master input unit 2 to perform initialization, but instead, it may be configured such that the operator can perform initialization manually. For example, a drive unit is not provided in the master input unit, but a foot switch that switches on / off operation command transmission from the master input unit to the master control unit is provided. Then, after the foot switch is pressed, the operator may move the grasping portion to a desired position to be set as the initial position and press the foot switch again to complete the initialization. In this case, the position and posture of the gripping part and the position and posture of the slave arm tip may not be completely matched, but the initial position set by the operator is respected, and the difference value of the movement amount from the initial position Since the slave arm is operated based on this, the operation can be performed intuitively with the setting that is most easily operated by the surgeon.

  A second embodiment of the present invention will be described with reference to FIGS. The difference between the master-slave manipulator 61 of the present embodiment and the above-described master-slave manipulator 1 is that the correspondence relationship between the master arm and the slave arm is switched when the screen to be watched is switched. In the following description, components that are the same as those already described are assigned the same reference numerals and redundant description is omitted.

  FIG. 5 is a diagram showing the master input unit 2 of the master / slave manipulator 61. As shown in the display 23, the slave manipulator 3 is provided with three treatment slave arms 62A, 62B, and 62C. On the first screen 25, the slave arms 62A and 62B are in a position that is easy to operate intuitively for the operator Op, and on the second screen 26 rotated 90 degrees clockwise, the slave arms 62B and 62C are for the operator Op. It is in a position that is easy to operate intuitively. Since the master input unit 2 has only two master arms, in this embodiment, two treatment slave arms and a master arm that are easy to operate intuitively are associated with each screen. That is, the correspondence relationship between the master arm and the treatment slave arm differs depending on the video displayed on each screen.

FIG. 6 is a flowchart showing an operation flow of the master / slave manipulator 61. In step S11, as in the first embodiment, the conversion angle θ for generating the second screen is set by the operator Op, and is operated by the master arm 21 on each of the first screen 25 and the second screen 26. Two treatment slave arms are set.
Thereafter, in step S41, initialization is performed so that the positions and postures of the two slave arm tip portions set in step S11 and the gripping portion 21A of the master input unit are aligned, and in step S42A, the master arm And the correspondence between the slave arm and the operation command conversion process are updated.
Other points are substantially the same as in the first embodiment.

Even in the master-slave manipulator 61 of the present embodiment, the operator simply goes to a screen that is more suitable for the technique or operation to be performed, and the conversion processing content of the master control unit is automatically updated, and the master while watching the screen. The slave arm can be operated without stress by intuitively operating the arm.
Furthermore, since the correspondence relationship between the master arm and the slave arm is also automatically updated, the procedure can be performed by operating the optimum slave arm on each screen.

In the present embodiment, an example in which there are three treatment slave arms has been described, but there may be two treatment slave arms or four or more treatment slave arms. Further, instead of setting the conversion angle θ and the slave arm operated on each screen in step S11, the master control unit or the like has a combination different from the first screen based on the positional relationship between the observation means and each treatment slave arm. The rotation angle at which the two slave arms can be easily operated may be automatically calculated to determine the conversion angle θ. At this time, the positional relationship between the observation means and each treatment slave arm may be calculated from an image acquired by the observation means, or may be calculated from position information based on the value of the encoder of the slave arm.
Alternatively, the optimum correspondence between the slave arm and the master arm may be automatically calculated based on the positional relationship information between the observation means and the slave arm from the conversion angle θ determined in the first step S11. Also in this case, as described above, the positional relationship between the observation unit and each slave arm may be calculated from the video acquired by the observation unit, or may be calculated from the position information based on the value of the encoder of the slave arm. Also good.
As another method, the correspondence between the slave arm and the master arm may be selected by the operator after step S40. The selection method can be performed by an input switch such as an interface.

  A third embodiment of the present invention will be described with reference to FIGS. The difference between the master-slave manipulator 71 of the present embodiment and the above-described master-slave manipulator 1 is that a plurality of slave manipulators are provided, and the correspondence relationship between the master arm and the slave manipulator is switched when the screen to be watched is switched.

  FIG. 7 is a diagram showing an overall configuration of the master / slave manipulator 71. The master-slave manipulator 71 includes two slave manipulators indicated by reference numerals 3A and 3B, and can perform procedures on two patients P1 and P2 in parallel. Note that the number of patients is not limited to two, and two slave manipulators can be arranged in different affected areas of one patient.

FIG. 8 is a functional block diagram of the master / slave manipulator 71. Each slave manipulator 3A, 3B has observation means 32A, 32B, respectively. The video acquired by the observation unit 32A is displayed on the first screen 25, and the video acquired by the observation unit 32B is displayed on the second screen 26.
A switching unit 72 is provided between the manipulator control unit 42 and the slave manipulators 3A and 3B, and the manipulator control unit 42 and one of the slave manipulators 3A and 3B are selectively connected to each other. An operation signal is transmitted from the manipulator control unit.

  FIG. 9 is a flowchart showing an operation flow of the master / slave manipulator 71. In the master / slave manipulator 71, the step of setting the rotation angle θ is not performed. When the observation means 32A and 32B reach the site where the procedure is performed in the patient's body, the images acquired by the observation means are displayed on the first screen 25 and the second screen 26 in step S20.

When the determination in step S40 is Yes, in step S400, the master control unit 41 sends a command to the switching unit 72 to switch the connection so that the slave manipulator that is not currently connected and the manipulator control unit 42 are connected. Thereafter, initialization in step S41 is performed.
Other points are substantially the same as in the first embodiment.

Also in the master slave manipulator 71 of the present embodiment, the operator Op simply goes to a screen that is more suitable for the technique or operation to be performed, and the conversion processing content of the master control unit is automatically updated, while viewing the screen. By operating the master arm intuitively, the slave arm of the switched slave manipulator can be operated without stress.
Further, by providing a plurality of slave manipulators, it is possible to suitably perform a procedure on a plurality of patients or affected areas.
In this embodiment, it is of course possible to provide three or more slave manipulators.
As is clear from the description of the first embodiment and the third embodiment, in the present invention, “a plurality of different images of a subject” includes both a case where there is one subject and a case where there are a plurality of subjects. It is a concept.

  A fourth embodiment of the present invention will be described with reference to FIGS. 10 and 11. The difference between the master slave manipulator 81 of the present embodiment and the master slave manipulator 1 described above is that the slave manipulator includes a plurality of observation means.

FIG. 10 is a diagram showing the master input unit 2 of the master / slave manipulator 81, and FIG. 11 is a functional block diagram of the master / slave manipulator 71. The slave manipulator 82 has three treatment slave arms 82A, 82B, and 82C. On the first screen 25 and the second screen 26, images similar to those in the second embodiment are displayed.
However, the slave manipulator includes two observation means, that is, a first endoscope 83 and a second endoscope 84, and an image acquired by the first endoscope 83 is displayed on the first screen 25. On the screen 26, an image acquired by the second endoscope 84 is displayed. Therefore, the video displayed on the second screen 26 is not an image processed image of the first screen.

FIG. 12 is a flowchart showing an operation flow of the master / slave manipulator 81. In the master-slave manipulator 81, the rotation angle θ is not set in step S11A, and only two slave arms operated by the master arm are set on each of the first screen 25 and the second screen 26. The content of the conversion process in step S42A is automatically calculated based on the positional relationship between the first endoscope 83 and the second endoscope 84.
Other points are substantially the same as in the second embodiment.

  In the master-slave manipulator 81 of the present embodiment, the operator Op simply goes to a screen that is more suitable for the technique or operation to be performed, and the conversion processing content of the master control unit is automatically updated, while viewing the screen. By operating the master arm intuitively, the slave arm can be operated without stress.

  In addition, since there are two observation means of the first endoscope 83 and the second endoscope 84, various surgical field images other than the rotational surgical field image can be displayed on the second screen 26. For example, the first screen 25 displays a video that captures the organization performing the procedure from one direction, and the second screen displays a video that captures the tissue from the opposite direction. Each procedure of the procedure can be performed with a more suitable angle or the like while switching the screen to be used.

  In the above example, the number of treatment slave arms is three. However, in the present embodiment, the number of treatment slave arms may be two or less or four or more, and the master arm and the treatment in step S42A according to the number. What is necessary is just to set the presence or absence of the corresponding relationship switching with the slave arm. Moreover, although the example provided with two observation means was demonstrated in the above-mentioned example, it replaced with this, and the image | video acquired by each observation part is displayed on a display part using one observation means provided with multiple observation parts. It is good also as a structure. Further, the endoscopes of the observation means do not have to have the same structure. For example, one may be a direct view type and the other may be a side view type endoscope.

  The embodiments of the present invention have been described above. However, the technical scope of the present invention is not limited to the above-described embodiments, and various modifications may be made to each component without departing from the spirit of the present invention. It is possible to delete or combine the configurations of the embodiments.

For example, when the video to be displayed on the second screen is generated by image processing of the video on the first screen, the image processing is not limited to the rotation processing described above. As an example, an enlarged image of the first screen 25 may be displayed on the second screen 26 as in the modification shown in FIG. In this case, an intuitive operation is possible by changing the motion scale ratio between the master arm and the slave arm when performing the procedure while viewing the first screen 25 and when performing the procedure while viewing the second screen 26. Therefore, it may be configured to change the motion scale ratio when updating the conversion processing content. Thereby, it is possible to prevent the relationship between the movement amount of the master arm and the movement amount of the slave arm from being changed regardless of which screen is viewed. In addition, a reduction process may be performed instead of the enlargement process.
Further, in each of the above-described embodiments, the example in which the gripping unit as the operation unit is connected to the master arm has been described, but the operation unit may be configured without the master arm. For example, the configuration may be such that the position / posture of the hand of the operation unit or the operator is acquired by a motion sensor such as a camera or a position sensor.

Further, in each of the above-described embodiments, the example in which the detection unit detects which screen the operator's face is facing and performs initialization and update of the conversion processing content based on the screen has been described. The detection unit may be configured to detect which screen the user is facing based on the position and orientation of the screen. Furthermore, a configuration in which a screen on which an image selected for performing a procedure by an operator is displayed may be input using an input unit such as a switch. The master-slave manipulator of the present invention is characterized in that the content of the conversion process is automatically updated based on the image selected by the surgeon. The former is intentionally or unconsciously, and the latter is intentional. The video is selected.
The input means is not limited to the foot switch, and may be provided anywhere.

In the present invention, the configuration of the display unit can be variously changed. For example, the display screen of one screen may be divided into two display areas, each having functions of a first screen and a second screen, or a head mounted display may be used.
Furthermore, of course, two or more screens may be provided, and different operative field images may be displayed on each screen.

1, 61, 71, 81 Master slave manipulator 2 Master input unit 3, 3A, 3B Slave manipulator 4 Control unit 21 Master arm 21A Grasping unit (operation unit)
22 Display unit 24 Detection unit (Video selection means)
31, 62A, 62B, 62C, 82A, 82B, 82C Slave arm 83 First endoscope (observation means)
84 Second endoscope (observation means)
Op operator (operator)

Claims (9)

A master input unit for issuing an operation command;
A slave manipulator operated by the master input unit;
A control unit for transmitting an operation signal to the slave manipulator based on the operation command;
A display unit having a first screen for displaying a first video of the subject and a second screen for displaying a second video of the subject different from the first video ;
Video selection means for an operator to select one video from the first video and the second video ,
With
The control unit generates the operation signal for operating the slave manipulator by performing a conversion process associated with the video selected by the operator via the video selection unit in response to the operation command. A medical master-slave manipulator characterized by that .   The medical master-slave manipulator according to claim 1, wherein the video selection unit includes a detection unit that detects the video in which the operator's face is facing.   The medical master-slave manipulator according to claim 1, wherein the video selection means includes an input means for inputting the video selected by the operator. The medical master according to any one of claims 1 to 3, wherein at least one of the first video and the second video is generated by performing image processing on another video. Slave manipulator. 5. The medical master-slave manipulator according to claim 4, wherein at least one of the first video and the second video is generated by rotating another video. The master-slave manipulator according to claim 4, wherein at least one of the first video and the second video is generated by enlarging or reducing another video. The medical master-slave manipulator according to any one of claims 1 to 3, wherein the first video and the second video are acquired by a plurality of different observation units. The master input unit has an operation unit,
The slave manipulator has slave arms, the number of which is larger than the number of the operation units, and in at least one of the conversion processes associated with the video, the correspondence relationship between the operation units and the slave arms is different. The medical master-slave manipulator according to claim 1, wherein the medical master-slave manipulator according to claim 1 is different from the conversion process.   The medical master-slave manipulator according to claim 7 or 8, comprising a plurality of the slave manipulators.

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