WO2025205900A1 - Remote surgery assistance system - Google Patents

Abstract

In this remote surgery assistance system (100): when a physician-side operation device (2) has operation rights and a state of being in use is not detected by a sensor (27), a control device (43), on the basis of a second command outputted from a switching switch (351), switches the operation rights from the physician-side operation device (2) to an instructor-side operation device (3); and, when the physician-side operation device (2) has the operation rights, a state of being in use is detected by the sensor (27), and the second command outputted from the switching switch (351) is outputted, the control device (43) does not switch the operation rights.

Description

Remote surgery support system

This invention relates to a remote surgery support system, and in particular to a remote surgery support system equipped with a doctor-side operation device and a supervising doctor-side operation device.

Telesurgery support systems equipped with a doctor-side operating device and a supervising doctor-side operating device are known. For example, they are described in U.S. Patent No. 9,666,101.

The above-mentioned U.S. Patent No. 9,666,101 describes a multi-user medical robot system for training in minimally invasive surgery, which includes a mentor input device and a trainee input device, allows the mentor input device and trainee input device to operate a surgical robot, and includes a switching device that allows the mentor input device to switch between operating the surgical robot with the mentor input device or the trainee input device. In other words, in the system of U.S. Patent No. 9,666,101, the operating authority for the surgical robot can be switched only by the mentor input device.

U.S. Pat. No. 9,666,101

However, while the above-mentioned U.S. Patent No. 9,666,101 specification describes the provision of a mentor-side input device and a trainee-side input device, and the use of the mentor-side input device to operate a surgical robot, it makes no mention of locating the mentor-side input device in a facility separate from the trainee-side input device and surgical robot, and using the mentor-side input device to provide remote surgical assistance. Furthermore, it is not possible to switch operating rights using the trainee-side input device, and the above-mentioned U.S. Patent No. 9,666,101 specification makes no mention of switching operating rights suitable for remote surgical assistance. In remote surgical assistance, it is desirable to be able to safely and smoothly switch operating rights between a supervising physician operating device and a physician operating device located in different facilities.

This invention was made to solve the above-mentioned problems, and one object of this invention is to provide a remote surgery support system that enables safe and smooth switching of operation rights between the supervising physician's operation device and the physician's operation device during remote surgery support.

A remote surgery support system according to one aspect of the present invention is installed in a first facility and comprises a first manipulator that holds an endoscope and a second manipulator that holds a surgical instrument; a doctor-side operation device that is installed in the first facility and allows a doctor to operate the first manipulator and the second manipulator; a supervising doctor-side operation device that is installed in a second facility different from the first facility and allows a supervising doctor to operate the first manipulator and the second manipulator via an external network; and one or more control devices. The doctor-side operation device comprises a first sensor that detects whether the doctor-side operation device is in use, a first display device that displays endoscopic images acquired by the endoscope, and a first switching device that receives an operation from the doctor and outputs a first command to switch operation rights between the supervising doctor-side operation device and the doctor-side operation device. The supervising physician side operating device includes a second sensor that detects whether the supervising physician side operating device is in use, a second display device that displays endoscopic images transmitted via the external network, and a second switching device that accepts an operation from the supervising physician and outputs a second command to switch operating authority between the supervising physician side operating device and the supervising physician side operating device. The one or more control devices are configured to switch operating authority from the doctor side operating device to the supervising physician side operating device based on the second command output from the second switching device when the doctor side operating device has operating authority and the first sensor detects that it is not in use, and not to switch operating authority when the doctor side operating device has operating authority and the first sensor detects that it is in use and the second command is output from the second switching device.

In one aspect of the present invention, in a remote surgery support system, as described above, the doctor-side operating device includes a first switching device that accepts the doctor's operation and outputs a first command to switch operating authority between the supervising doctor-side operating device and the doctor-side operating device, and the supervising doctor-side operating device includes a second switching device that accepts the doctor's operation and outputs a second command to switch operating authority between the doctor-side operating device and the supervising doctor-side operating device. This allows operating authority for operating the first manipulator and the second manipulator to be switched between the doctor-side operating device and the supervising doctor-side operating device. Furthermore, one or more control devices are configured to switch operating authority from the doctor-side operating device to the supervising doctor-side operating device based on the second command output from the second switching device when the doctor-side operating device has operating authority and the first sensor detects that it is not in use. This allows operating authority to be switched from the supervising doctor-side operating device that does not have operating authority when the doctor-side operating device that has operating authority is not in use, allowing operating authority to be smoothly switched from the doctor-side operating device to the supervising doctor-side operating device according to the situation. Furthermore, one or more control devices are configured not to switch the operating authority when the doctor-side operating device has the operating authority, the first sensor detects that the device is in use, and the second switching device outputs a second command. As a result, when the doctor-side operating device with the operating authority is in use, the operating authority cannot be switched from the supervising doctor-side operating device that does not have the operating authority, thereby preventing the operating authority from being switched from the doctor-side operating device in use to the supervising doctor-side operating device. As a result, switching of the operating authority between the supervising doctor-side operating device and the doctor-side operating device can be performed safely and smoothly during remote surgical support.

According to the present invention, operation rights can be safely and smoothly switched between the supervising physician's operation device and the physician's operation device during remote surgical support.

1 is a diagram illustrating the configuration of a remote surgery support system according to an embodiment. FIG. 1 illustrates a configuration of a surgical robot according to one embodiment. FIG. 2 is a diagram illustrating a configuration of a doctor-side operating device (supervising doctor-side operating device) according to an embodiment. 1 is a block diagram showing the configuration of a remote surgery support system according to one embodiment. FIG. 1 is a diagram showing a scope-type display device of a remote surgery support system according to an embodiment. 1 is a block diagram showing a configuration related to a control device of an information sharing device according to an embodiment. 10A and 10B are diagrams illustrating an endoscopic image on which information indicating the location of operation authority is superimposed according to one embodiment. FIG. 10 is a diagram showing an example of first information indicating that the doctor-side operating device has operation rights according to one embodiment. FIG. 10 is a diagram showing an example of second information indicating that the supervising physician side operating device has operation rights according to one embodiment. 10 is a diagram illustrating a display area for information indicating the location of operation authority according to an embodiment. FIG. FIG. 10 is a diagram showing an example of a screen for selecting a display area for information indicating the location of an operation authority according to an embodiment. 10A and 10B are diagrams illustrating an endoscopic image on which information indicating the usage state of the operation device according to one embodiment is superimposed. FIG. 10 is a diagram illustrating an example of a display when the operating device according to an embodiment is in use. FIG. 10 is a diagram illustrating an example of a display when the operating device is not in use according to an embodiment. 10A and 10B are diagrams illustrating an endoscope image on which information about an operating authority and a usage state is superimposed according to an embodiment. 10A and 10B are diagrams illustrating an endoscopic image on which information is superimposed when the operation right is switchable according to one embodiment. FIG. 10 is a diagram illustrating an example of information displayed when the operation right cannot be switched according to an embodiment. 10 is a flowchart illustrating a process for determining whether or not switching is possible according to an embodiment. FIG. 10 is a diagram showing an endoscopic image on which information indicating the location of the operating authority is superimposed according to a first modified example of an embodiment. FIG. 10 is a diagram showing an endoscopic image on which information indicating the location of the operating authority is superimposed according to a second modified example of an embodiment.

The following describes an embodiment of the present invention with reference to the drawings.

The configuration of a remote surgery support system 100 according to one embodiment will be described with reference to Figures 1 to 17.

As shown in FIG. 1, the remote surgery support system 100 comprises a surgical robot 1 installed near an operating table 101 on which a patient P is placed, a doctor-side operation device 2 that allows a doctor A1 to operate the surgical robot 1, and a supervising doctor-side operation device 3 that allows a supervising doctor A2 to operate the surgical robot 1 via an external network N. The surgical robot 1 and the doctor-side operation device 2 are installed at a first facility B1. The supervising doctor-side operation device 3 is installed at a second facility B2 that is different from the first facility B1. At the first facility B1, an assistant A3 is positioned near the surgical robot 1 as part of the surgical staff. In addition, an information sharing device 4 is installed at the first facility B1 for sharing information with assistant A3.

As shown in Figure 2, the surgical robot 1 comprises one manipulator arm 11 that holds an endoscope 5, and multiple (three) manipulator arms 12 that hold surgical instruments 6. The endoscope 5 captures images of the surgical site inside the patient P. The surgical instruments 6 have an end effector, such as forceps, attached to their tips. The doctor-side operating device 2 and the supervising doctor-side operating device 3 are provided to operate the manipulator arms 11 and 12. The manipulator arm 11 is an example of a "first manipulator" in the claims. The three manipulator arms 12 are each an example of a "second manipulator," a "third manipulator," and a "fourth manipulator."

The surgical robot 1 is located in the operating room of the first facility B1. It also includes a medical cart 13, a positioner 14, and an arm base 15. The surgical robot 1 is configured to be movable by the medical cart 13. The medical cart 13 is equipped with a control device 16 that controls the operation of the surgical robot 1. The control device 16 controls the operation of the surgical robot 1 based on commands input to the doctor-side operation device 2 or the supervising doctor-side operation device 3. The system control device 17 is located inside the medical cart 13 and controls the entire remote surgery support system 100. Specifically, the system control device 17 communicates with and controls each of the control devices 16, 28, 38, and 43. The system control device 17 and the control device 16 each include a processing unit such as a CPU that executes a program, and a storage unit such as a memory in which the program is stored. The system control device 17 is an example of "one or more control devices" in the claims.

The medical cart 13 is also provided with an input device 18. The input device 18 is configured to accept operations to move and change the posture of the manipulator arm 11, manipulator arm 12, positioner 14, and arm base 15, primarily for preparing for surgery before the procedure.

The positioner 14 is configured, for example, by a seven-axis articulated robot. The positioner 14 is placed on the medical cart 13. The positioner 14 moves the arm base 15. Specifically, the positioner 14 is configured to move the position of the arm base 15 in three dimensions.

The arm base 15 is attached to the tip of the positioner 14. The arm base 15 has a relatively long rod shape (long shape). The manipulator arms 11 and 12 are attached at their bases to the arm base 15. The arm base 15, manipulator arm 11, and manipulator arm 12 are covered with sterile drapes when in use.

As shown in FIG. 1, the doctor-side operating device 2 is located, for example, inside or outside an operating room in the first facility B1. The doctor-side operating device 2 also includes a doctor-side operating device main body 2a. As shown in FIG. 3, the doctor-side operating device main body 2a includes an operating handle 21, a foot pedal 22, a touch panel 23, a scope-type display device 24, an armrest 25, a voice communication device 26, a sensor 27, a control device 28, and a support arm 30. The operating handle 21 is an example of a "first operating device" in the claims. The scope-type display device 24 is an example of a "first display device" in the claims. The armrest 25 is an example of a "first armrest" in the claims. The voice communication device 26 is an example of a "first voice communication device" in the claims. The sensor 27 is an example of a "first sensor" in the claims. The control device 28 is an example of "one or more control devices" in the claims.

The operating handle 21 constitutes an operating handle that allows the operator (doctor A1) to input commands. The operating handle 21 is provided so that the operator (doctor A1) can operate the manipulator arms 11 and 12 (endoscope 5 and surgical instrument 6). The operating handle 21 also receives the amount of operation for the manipulator arms 11 and 12 (endoscope 5 and surgical instrument 6). The operating handle 21 includes a pair of operating handles: a left-hand operating handle 21L operated with the left hand of the operator (doctor A1), and a right-hand operating handle 21R operated with the right hand of the operator (doctor A1). The operating handle 21L operates the surgical instrument 6 held by one manipulator arm 12, and the operating handle 21R operates the surgical instrument 6 held by the other manipulator arm 12.

Furthermore, the operating handle 21 changes (scales) the movement amount of the endoscope 5 and surgical instrument 6 in accordance with the amount of operation received by the operating handle 21. For example, if the magnification of the movement amount is set to 1/2, the endoscope 5 and surgical instrument 6 are controlled to move a distance that is 1/2 of the movement distance of the operating handle 21. This allows for precise surgery to be performed with precision.

The foot pedal 22 includes multiple pedals for performing functions related to the endoscope 5 and surgical instrument 6. The multiple pedals include, for example, a coagulation pedal, an incision pedal, a camera pedal, a clutch pedal, and a swap pedal. The multiple pedals are operated by the feet of the operator (doctor A1). When the camera pedal is operated, the endoscope 5 held on the manipulator arm 11 can be moved with the operating handle 21. At this time, the endoscope 5 is operated and moved using both the operating handle 21L and the operating handle 21R. The touch panel 23 accepts setting operations related to the doctor-side operating device 2. The touch panel 23 is located on the armrest 25. The scope-type display device 24 displays the endoscopic image G1 (see Figure 7) acquired by the endoscope 5. The scope-type display device 24 is an immersive display device that allows only the operator (doctor A1) to view the displayed image. The operator (doctor A1) operates the operating handle 21 and foot pedal 22 while visually checking the affected area through the scope-type display device 24. The support arm 30 supports the scope-type display device 24 so that the height of the scope-type display device 24 can be adjusted to match the height of the face of an operator such as doctor A1.

The armrest 25 is bar-shaped and configured so that the operator (doctor A1) can rest his or her arm on it when operating the operating handle 21. The armrest 25 is also provided with a selector switch 251, as shown in Figures 3 and 4. The selector switch 251 is provided to accept an operation for switching operation rights between the supervising physician's operation device 3 and the physician's operation device 2, which will be described later. This allows doctor A1 to easily switch operation rights by operating the selector switch 251 located on the armrest 25 where he or she places his or her arm. The selector switch 251 is an example of the "first switching device" and "first selector switch" in the claims.

The audio communication device 26 is provided so that Doctor A1 can communicate audio with Supervising Doctor A2. As shown in FIG. 5, the audio communication device 26 is positioned so that audio communication can be established with the audio communication device 36 (described later) of the supervising doctor's operating device 3 while the operator (Doctor A1) is looking into the scope-type display device 24. Specifically, the audio communication device 26 is positioned so that it is located near the head of the operator (Doctor A1) while the operator (Doctor A1) is looking into the scope-type display device 24. The audio communication device 26 is positioned integrally with the scope-type display device 24, and its height can be adjusted integrally using the support arm 30.

As shown in Figures 4 and 5, the audio communication device 26 also includes a microphone 261 and a speaker 262. The microphone 261 accepts audio input. The speaker 262 outputs audio. As shown in Figure 5, the speaker 262 is located close to the ear of the operator (doctor A1) when the operator is looking into the scope-type display device 24. The microphone 261 is located close to the mouth of the operator (doctor A1) when the operator is looking into the scope-type display device 24. The microphone 261 and speaker 262 are also located integrally with the scope-type display device 24.

As shown in FIG. 5, the sensor 27 is an optical sensor positioned so that it can detect the head of doctor A1 when doctor A1 is looking into the scope-type display device 24 (i.e., in a head-in state). Only while doctor A1's head is detected by the sensor 27, the surgical instrument 6 and manipulator arm 12 are in a usable state in which they can be operated by the operating handle 21. In other words, the sensor 27 detects whether the doctor-side operating device 2 is in a usable state. The sensor 27 also detects whether doctor A1 has his head in the scope-type display device 24, as the usable state of the doctor-side operating device 2. The sensor 27 is integrally arranged with the scope-type display device 24. The control device 28 controls the operation of the doctor-side operating device 2. The control device 28 includes a processing unit such as a CPU that executes programs, and a storage unit such as a memory in which the programs are stored.

The above describes the doctor-side operation device 2, but the supervising physician-side operation device 3 has the same structure as the doctor-side operation device 2. That is, as shown in FIG. 4, the supervising physician-side operation device 3 comprises the supervising physician-side operation device main body 3a. The supervising physician-side operation device main body 3a comprises an operation handle 31, a foot pedal 32, a touch panel 33, a scope-type display device 34, an armrest 35, a voice communication device 36, a sensor 37, a control device 38, and a support arm. The scope-type display device 34 displays an endoscopic image G1 (see FIG. 7) transmitted via the external network N. Furthermore, the doctor-side operation device 2 and the supervising physician-side operation device 3 basically have the same specifications, but the normal mode and remote mode are switched between for use via the touch panel 23 (33). The operation handle 31 is an example of a "second operation device" in the claims. The scope-type display device 34 is an example of a "second display device" in the claims. The armrest 35 is an example of a "second armrest" in the claims. Additionally, audio communication device 36 is an example of a "second audio communication device" in the claims. Additionally, sensor 37 is an example of a "second sensor" in the claims. Additionally, control device 38 is an example of "one or more control devices" in the claims.

Furthermore, as shown in FIG. 4, a changeover switch 351 is provided on the armrest 35. The changeover switch 351 is provided to accept an operation for switching operation rights between the supervising physician side operation device 3 and the physician side operation device 2. This allows supervising physician A2 to easily switch operation rights by operating the changeover switch 351 located on the armrest 35 where he or she places his or her arm. The changeover switch 351 is an example of the "second switching device" and "second changeover switch" in the claims.

The audio communication device 36 is provided so that supervising physician A2 can communicate audio with medical doctor A1. This allows for smooth audio communication between the doctor operating the doctor-side operation device 2 located at the first facility B1 and supervising physician A2 operating the supervising physician-side operation device 3 located at the second facility B2. As shown in FIG. 4, the audio communication device 36 includes a microphone 361 and a speaker 362. The microphone 361 accepts audio input. The speaker 362 outputs audio. The speaker 362 is located close to the operator's ear when the operator (supervising physician A2) is looking into the scope-type display device 34. The microphone 361 is located close to the operator's mouth when the operator (supervising physician A2) is looking into the scope-type display device 34. The microphone 361 and speaker 362 are located integrally with the scope-type display device 34.

Sensor 37 is an optical sensor positioned in a position where it can detect the head of supervising physician A2 when he/she is looking into the scope-type display device 34 (i.e., with his/her head in). Only while sensor 37 detects supervising physician A2's head, the surgical instrument 6 and manipulator arm 12 are in a usable state where they can be operated with the operating handle 31. In other words, sensor 37 detects whether or not the supervising physician's operation device 3 is in a usable state. Sensor 37 also detects whether or not supervising physician A2 has his/her head in the scope-type display device 34 as the usable state of the supervising physician's operation device 3.

As shown in Figures 1 and 4, the information sharing device 4 is a movable monitor cart. The information sharing device 4 is located in the first facility B1. The surgical robot 1 (manipulator arm 11, manipulator arm 12) is connected to the dual unit 7 via the information sharing device 4. The information sharing device 4 includes a display device 41 for displaying an endoscopic image G1 (see Figure 7) acquired by the endoscope 5 (see Figure 2). The information sharing device 4 also includes an audio communication device 42 for audio communication with the audio communication device 26 of the doctor-side operation device 2 and the audio communication device 36 of the supervising physician-side operation device 3. The information sharing device 4 is located closer to the surgical robot 1 than the doctor-side operation device 2. This allows assistant A3, who is located near the surgical robot 1 as a surgical staff member, to view the endoscopic image G1 and communicate with doctor A1 and supervising physician A2. The audio communication device 42 includes a microphone 421 and a speaker 422. The microphone 421 accepts audio input. The speaker 422 outputs audio. The display device 41 is, for example, a flat panel display device. The information sharing device 4 is an example of a "GUI generation control device" in the claims. The display device 41 is an example of a "third display device" in the claims. The audio communication device 42 is an example of a "third audio communication device" in the claims.

The information sharing device 4 also includes a control device 43. The control device 43 performs image processing on the endoscopic image G1. The control device 43 includes a processing unit such as a CPU that executes a program, and a storage unit such as a memory in which the program is stored. The control device 43 generates a GUI (graphical user interface) to be superimposed on the endoscopic image G1. For example, the control device 43 generates a GUI for the endoscopic image G1, such as the type of surgical instrument 6, the operation state of the endoscope 5, the operation state of the surgical instrument 6, and the operation state of the foot pedal 22, and superimposes it on the endoscopic image G1. The control device 43 also generates a GUI for information regarding the operation rights for the supervising physician-side operation device 3 and the physician-side operation device 2, which will be described later, and superimposes it on the endoscopic image G1. The control device 43 is an example of "one or more control devices" in the claims.

The control device 43 displays the same image on the scope-type display device 24, the scope-type display device 34, and the display device 41. That is, the same endoscopic image G1 is displayed on each of the scope-type display devices 24, the scope-type display device 34, and the display device 41.

Furthermore, as shown in Figures 4 and 6, a dual unit 7, a network device 51, and a remote unit 61 are installed in the first facility B1. Note that the dual unit 7 is an example of a "connection unit" as defined in the claims. Furthermore, the network device 51 is an example of a "first network device" as defined in the claims. Furthermore, the remote unit 61 is an example of a "first remote unit" as defined in the claims.

The dual unit 7 is provided to connect multiple operation devices (doctor-side operation device 2, supervising physician-side operation device 3) to one information sharing device 4 installed in the first facility B1. The dual unit 7 is connected to the remote unit 61, the doctor-side operation device 2, and the surgical robot 1 (manipulator arm 11, manipulator arm 12) via the information sharing device 4. The dual unit 7 also has multiple physical interfaces (terminals) to connect to multiple operation devices.

Network device 51 communicates via external network N. Network device 51 has a processing unit 511 and a communication unit 512. Network device 51 is connected to a remote unit 61 and external network N. Network device 51 and remote unit 61 are connected to each other, for example, via a wired connection, so that they can communicate with each other.

The remote unit 61 is connected to the network device 51 and converts communication data into a format that can be communicated via the external network N. The remote unit 61 also processes events caused by the state of the external network N. Events caused by the state of the external network N include, for example, changes in communication delay time, communication data loss, and communication data synchronization errors. The remote unit 61 has a processing unit 611 and a communication unit 612. The processing unit 611 of the remote unit 61 converts communication data between the surgical robot 1 and the operation devices (doctor-side operation device 2, supervising physician-side operation device 3) into data that can be communicated via the external network N. The communication data between the surgical robot 1 and the operation devices (doctor-side operation device 2, supervising physician-side operation device 3) includes, for example, information on the operation system, video system, audio system, power supply system, and electrosurgical knife system. The processing unit 611 of the remote unit 61 also reduces the size of relatively large data, such as video data, before transmitting it, and restores the reduced-size data upon receiving it. Additionally, if a data delay occurs due to communication issues, the remote unit 61 adjusts the waiting time to wait for the arrival of that data for a certain period of time.

Furthermore, as shown in Figures 4 and 6, a network device 52 and a remote unit 62 are installed in the second facility B2. Note that the network device 52 is an example of a "second network device" in the claims. Furthermore, the remote unit 62 is an example of a "second remote unit" in the claims.

Network device 51 communicates via external network N. Network device 52 has a processing unit 521 and a communication unit 522. Network device 52 is connected to a remote unit 62 and external network N. Network device 52 and remote unit 62 are connected, for example, via a wired connection so that they can communicate with each other.

The remote unit 62 is connected to the network device 52 and converts communication data into a format that can be communicated via the external network N. The remote unit 62 also processes events caused by the state of the external network N. Events caused by the state of the external network N include, for example, changes in communication delay time, communication data loss, and communication data synchronization errors. The remote unit 62 has a processing unit 621 and a communication unit 622. The processing unit 621 of the remote unit 62 converts communication data between the supervising physician's operation device 3 and the surgical robot 1 into data that can be communicated via the external network N. The processing unit 621 of the remote unit 62 also reduces the size of relatively large data such as video data before transmitting it, and restores the reduced-size data when it is received. The remote unit 62 also adjusts the wait time for a certain period of time for the arrival of data when a data delay occurs due to communication issues.

In this embodiment, the operating authority is switched between the doctor-side operating device 2 installed at the first facility B1 and the supervising doctor-side operating device 3 installed at the second facility B2, and the surgical robot 1 (manipulator arm 11, manipulator arm 12) installed at the first facility B1 is operated by either operating device. Note that the doctor-side operating device 2 is always set to have the operating authority by default (initial setting), and the system control device 17 is configured to first set the doctor-side operating device 2 to have the operating authority when using the remote surgery support system. In other words, the system control device 17 is configured to set the operating authority by default (initial setting) to the doctor-side operating device 2 installed at the first facility B1, to which the doctor who is responsible for the surgery in the remote surgery support belongs.

Furthermore, the changeover switch 251 of the doctor-side operating device 2 accepts operation by doctor A1 and outputs a first command to switch the operating authority between the supervising doctor-side operating device 3 and the doctor-side operating device 2. Further, the changeover switch 351 of the supervising doctor-side operating device 3 accepts operation by supervising doctor A2 and outputs a second command to switch the operating authority between the doctor-side operating device 2 and the supervising doctor-side operating device 3. This makes it possible to switch the operating authority for operating the surgical robot 1 (manipulator arm 11, manipulator arm 12) on both the doctor-side operating device 2 and the supervising doctor-side operating device 3.

Selector switch 251 is, for example, a hardware switch provided in armrest 25. Selector switch 351 is, for example, a hardware switch provided in armrest 35.

Furthermore, when the doctor-side operation device 2 has operation authority, the control device 43 displays first information Ga, indicating that the doctor-side operation device 2 has operation authority, on the scope-type display device 24 and the scope-type display device 34. Further, when the supervising physician-side operation device 3 has operation authority, the control device 43 displays second information Gb, indicating that the supervising physician-side operation device 3 has operation authority, on the scope-type display device 24 and the scope-type display device 34. Specifically, when the doctor-side operation device 2 has operation authority, the control device 43 generates an image in which the first information Ga is superimposed as a GUI on the endoscopic image G1, as shown in Figures 7 and 8, and displays it on the scope-type display device 24 and the scope-type display device 34. Further, when the supervising physician-side operation device 3 has operation authority, the control device 43 generates an image in which the second information Gb is superimposed as a GUI on the endoscopic image G1, as shown in Figure 9, and displays it on the scope-type display device 24 and the scope-type display device 34. This makes it easy to confirm which party has the operating authority to operate the surgical robot 1 (manipulator arm 11, manipulator arm 12) on both the doctor's operating device 2 and the supervising doctor's operating device 3.

Furthermore, when the operating authority is switched from the supervising physician-side operating device 3 to the physician-side operating device 2, the control device 43 changes the second information Gb (see FIG. 9) displayed on the scope-type display device 24 and the scope-type display device 34 to the first information Ga (see FIG. 8). Further, when the operating authority is switched from the physician-side operating device 2 to the supervising physician-side operating device 3, the control device 43 is configured to change the first information Ga (see FIG. 8) displayed on the scope-type display device 24 and the scope-type display device 34 to the second information Gb (see FIG. 9). As a result, when the operating authority to operate the surgical robot 1 (manipulator arm 11, manipulator arm 12) is switched between the supervising physician-side operating device 3 and the physician-side operating device 2, the displays of the first information Ga and second information Gb, which confirm the holder of the operating authority, are also switched, allowing physician A1 and physician A2 to easily recognize that the operating authority has been switched.

The first information Ga includes, for example, information indicating the doctor-side operating device 2, as shown in FIG. 8. The second information Gb includes information indicating the supervising physician-side operating device 3, as shown in FIG. 9. In other words, in the example shown in FIG. 8, the information indicating the doctor-side operating device 2 is highlighted with "SC1" and dimmed with "SC2." In the example shown in FIG. 9, the information indicating the supervising physician-side operating device 3 is highlighted with "SC2" and dimmed with "SC1." As a result, if the doctor-side operating device 2 has the operating authority, it can be easily confirmed that the doctor-side operating device 2 has the operating authority from the first information Ga, which includes information indicating the doctor-side operating device 2. Furthermore, if the supervising physician-side operating device 3 has the operating authority, it can be easily confirmed that the supervising physician-side operating device 3 has the operating authority from the second information Gb, which includes information indicating the supervising physician-side operating device 3.

Furthermore, when the doctor-side operating device 2 has the operating authority, the control device 43 displays first information Ga on the display device 41 of the information sharing device 4. Further, when the supervising physician-side operating device 3 has the operating authority, the control device 43 displays second information Gb on the display device 41 of the information sharing device 4. As a result, the information sharing device 4 located near the surgical robot 1 (manipulator arm 11, manipulator arm 12) can display first information Ga and second information Gb indicating which of the doctor-side operating device 2 and the supervising physician-side operating device 3 has the operating authority, so that assistants and technicians located near the surgical robot 1 (manipulator arm 11, manipulator arm 12) can easily recognize which has the operating authority.

In another embodiment, the system control device 17 switches the operation authority to the doctor-side operation device 2 in response to a first command output from the changeover switch 251 of the doctor-side operation device 2 when the supervising physician-side operation device 3 has the operation authority and the sensor 37 does not detect that the supervising physician-side operation device 3 is in use. In addition, the system control device 17 switches the operation authority to the supervising physician-side operation device 3 in response to a second command output from the changeover switch 351 of the supervising physician-side operation device 3 when the doctor-side operation device 2 has the operation authority and the sensor 27 does not detect that the doctor-side operation device 2 is in use. This allows the operation authority to be switched from an operation device that does not have the operation authority when the operation device that has the operation authority is not in use, thereby enabling safe and smooth switching of the operation authority.

In other words, if the doctor-side operating device 2 has the operating authority, the sensor 27 detects that the doctor-side operating device 2 is in use, and the second command is output from the changeover switch 351, the system control device 17 does not switch the operating authority. Also, if the supervising physician-side operating device 3 has the operating authority, the sensor 37 detects that the supervising physician-side operating device 3 is in use, and the changeover switch 251 outputs the first command, the system control device 17 does not switch the operating authority.

Furthermore, when the doctor-side operating device 2 has the operating authority, the system control device 17 switches the operating authority from the doctor-side operating device 2 to the supervising doctor-side operating device 3 based on the first command output from the changeover switch 251, regardless of the detection result of the sensor 37 as to whether the supervising doctor-side operating device 3 is in use. Further, when the supervising doctor-side operating device 3 has the operating authority, the system control device 17 is configured to switch the operating authority from the supervising doctor-side operating device 3 to the doctor-side operating device 2 based on the second command output from the changeover switch 351, regardless of the detection result of the sensor 27 as to whether the doctor-side operating device 2 is in use. This allows for smooth switching of the operating authority from the operating device that has the operating authority.

Furthermore, when the operation right is switched from the supervising physician-side operation device 3 to the physician-side operation device 2, or when the operation right is switched from the physician-side operation device 2 to the supervising physician-side operation device 3, the system control device 17 notifies the supervising physician-side operation device 3 and the physician-side operation device 2 of the operation right switch. In other words, when the operation right is switched from the supervising physician-side operation device 3 to the physician-side operation device 2, the system control device 17 notifies the supervising physician-side operation device 3 of the operation right switch. Furthermore, when the operation right is switched from the physician-side operation device 2 to the supervising physician-side operation device 3, the system control device 17 notifies the physician-side operation device 2 of the operation right switch. For example, the control device 43 linked to the system control device 17 displays on the scope-type display device 24 of the physician-side operation device 2 and the scope-type display device 34 of the supervising physician-side operation device 3 that the operation right will be switched. Furthermore, the system control device 17 notifies by voice from the speaker 262 of the physician-side operation device 2 and the speaker 362 of the supervising physician-side operation device 3 that the operation right will be switched. This allows Doctor A1 and Supervising Doctor A2 to easily recognize that the operating authority is being switched by receiving a notification of the switching of operating authority.

Furthermore, the system control device 17 and the control device 28 are configured to start operating the manipulator arm 12 using the operating handle 21 in response to the operating handle 21 receiving a predetermined operation when the sensor 27 detects that the doctor-side operating device 2 is in use after the operating authority is switched from the supervising physician-side operating device 3 to the doctor-side operating device 2.Furthermore, the system control device 17 and the control device 38 are configured to start operating the manipulator arm 12 using the operating handle 31 in response to the operating handle 31 receiving a predetermined operation when the sensor 37 detects that the supervising physician-side operating device 3 is in use after the operating authority is switched from the doctor-side operating device 2 to the supervising physician-side operating device 3.As a result, after the operating authority is switched, the manipulator arm 12 can be operated by the operating device with the operating authority when it is in use and a predetermined operation has been performed, so operation can be started once the side with the operating authority is ready. The specified operation accepted by the operating handle 21 or 31 is an operation for aligning the orientation of the operating handle 21 or 31 with the orientation of the surgical instrument 6, such as a matching grip operation such as moving the fingers together or rotating the wrist.

Furthermore, when the doctor-side operating device 2 has the operating authority, the system control device 17 controls the operating handle 31 of the supervising doctor-side operating device 3 so that it is possible to operate it, but does not operate the surgical robot 1 (manipulator arm 11, manipulator arm 12) by operating the operating handle 31.Furthermore, when the supervising doctor-side operating device 3 has the operating authority, the system control device 17 controls the operating handle 21 of the doctor-side operating device 2 so that it is possible to operate it, but does not operate the surgical robot 1 (manipulator arm 11, manipulator arm 12).As a result, the surgical robot 1 (manipulator arm 11, manipulator arm 12) cannot be operated from an operating device that does not have the operating authority, and therefore it is possible to more reliably prevent the surgical robot 1 (manipulator arm 11, manipulator arm 12) from operating against the intentions of the operator who has the operating authority. Furthermore, if the supervising physician's operating device 3 has the operating authority, the operating handle 21 of the physician's operating device 2 can be operated, and physician A1 can therefore move the operating handle 21 in accordance with the movement of the surgical instrument 6 displayed on the scope-type display device 24.

Furthermore, when the doctor-side operating device 2 has the operating authority and the sensor 27 does not detect that the doctor-side operating device 2 is in use, the system control device 17 and the control device 28 control the surgical robot 1 (manipulator arm 11, manipulator arm 12) not to operate by operating the operating handle 21, and when the sensor 27 detects that the doctor-side operating device 2 is in use, the system control device 17 and the control device 38 control the surgical robot 1 (manipulator arm 11, manipulator arm 12) to operate by operating the operating handle 21.Furthermore, when the supervising physician-side operating device 3 has the operating authority and the sensor 37 does not detect that the supervising physician-side operating device 3 is in use, the system control device 17 and the control device 38 control the surgical robot 1 (manipulator arm 11, manipulator arm 12) not to operate by operating the operating handle 31, and when the sensor 37 detects that the supervising physician-side operating device 3 is in use, the system control device 17 and the control device 38 control the surgical robot 1 (manipulator arm 11, manipulator arm 12) to operate by operating the operating handle 31.

The control devices 28 and 38 also accept a selection of positions for displaying the first information Ga and the second information Gb. For example, as shown in FIG. 10, the first information Ga and the second information Gb can be selected from the upper left position P1 of the screen, the lower left position P2 of the screen, the lower right position P3 of the screen, and the upper right position P4 of the screen. As shown in FIG. 11, the control devices 28 and 38 display a screen on the touch panels 23 and 33 for accepting a selection of positions for displaying the first information Ga and the second information Gb, and accept the operator's selection. For example, the control device 28 displays a first screen on the touch panel 23 for accepting a selection of positions for displaying the first information Ga and the second information Gb. Furthermore, when the control device 28 accepts a selection of positions for displaying the first information Ga and the second information Gb via the first screen, it controls the scope-type display device 24 to display the first information Ga and the second information Gb at the selected position. The control device 38 also displays a first screen on the touch panel 33 that accepts the selection of positions for displaying the first information Ga and the second information Gb. When the control device 38 accepts the selection of positions for displaying the first information Ga and the second information Gb via the first screen, it controls the scope-type display device 34 to display the first information Ga and the second information Gb at the selected positions.

Furthermore, when the doctor-side operation device 2 has operation authority, the control device 43 displays the detection results detected by the sensor 27 on the scope-type display device 34 of the supervising doctor-side operation device 3. Specifically, as shown in FIG. 12, when the sensor 27 does not detect that doctor A1 has his head in the scope-type display device 24, the control device 43 generates an image in which display G2b (see FIG. 14) is superimposed as a GUI on the endoscopic image G1, and displays the image on the scope-type display device 24 and the scope-type display device 34. Further, when the sensor 27 detects that doctor A1 has his head in the scope-type display device 24, the control device 43 generates an image in which display G2a (see FIG. 13) is superimposed as a GUI on the endoscopic image G1, and displays the image on the scope-type display device 24 and the scope-type display device 34. Display G2a and display G2b are distinguishable from each other. For example, display G2a and display G2b are displayed in different colors. Furthermore, when the doctor-side operating device 2 has the operating authority, the control device 43 displays a GUI including the first information Ga on the scope-type display device 24 and the scope-type display device 34.

Furthermore, when the supervising physician side operation device 3 has operation authority, the control device 43 displays the detection results detected by the sensor 37 on the scope-type display device 24 of the doctor-side operation device 2. Specifically, when the sensor 37 does not detect that supervising physician A2 has his head in the scope-type display device 34, the control device 43 generates an image in which display G2b (see FIG. 14) is superimposed as a GUI on the endoscopic image G1, and displays it on the scope-type display device 24 and the scope-type display device 34. Further, when the sensor 37 detects that supervising physician A2 has his head in the scope-type display device 34, the control device 43 generates an image in which display G2a (see FIG. 13) is superimposed as a GUI on the endoscopic image G1, and displays it on the scope-type display device 24 and the scope-type display device 34. This makes it easy to check whether the operation device with operation authority is in use on an operation device without operation authority. Furthermore, when the supervising physician side operation device 3 has operation authority, the control device 43 displays a GUI including the second information Gb on the scope-type display device 24 and the scope-type display device 34.

Furthermore, when the doctor-side operation device 2 has operation authority, the control device 43 may be configured to display on the scope-type display device 24 and the scope-type display device 34 first information Ga indicating that the doctor-side operation device 2 has operation authority and the detection results detected by the sensors 27 and 37. Further, when the supervising doctor-side operation device 3 has operation authority, the control device 43 may be configured to display on the scope-type display device 24 and the scope-type display device 34 second information Gb indicating that the supervising doctor-side operation device 3 has operation authority and the detection results detected by the sensors 27 and 37. For example, when the doctor-side operation device 2 has operation authority, the sensor 27 has detected the head of doctor A1, and the sensor 37 has not detected the head of supervising doctor A2, the control device 43 generates an image in which the first information Ga, display G2a, and display G2b are superimposed as GUIs on the endoscopic image G1, as shown in FIG. 15, and displays the image on the scope-type display device 24 and the scope-type display device 34.

16, when the doctor-side operation device 2 has operation authority and the sensor 27 has not detected that doctor A1 has his head in the scope-type display device 24, the control device 43 generates an image in which a display G3a (see FIG. 16) indicating that switching is possible is superimposed as a GUI on the endoscopic image G1, and displays the image on the scope-type display device 24 and the scope-type display device 34. When the doctor-side operation device 2 has operation authority and the sensor 27 has not detected that doctor A1 has his head in the scope-type display device 24, the control device 43 generates an image in which a display G3b (see FIG. 17) indicating that switching is not possible is superimposed as a GUI on the endoscopic image G1, and displays the image on the scope-type display device 24 and the scope-type display device 34. When the doctor-side operation device 2 has operation authority and the sensor 27 has detected that doctor A1 has his head in the scope-type display device 24, the control device 43 generates an image in which a display G3b (see FIG. 17) indicating that switching is not possible is superimposed as a GUI on the endoscopic image G1, and displays the image on the scope-type display device 24 and the scope-type display device 34. Display G3a and display G3b are distinguishable from each other. For example, display G3a and display G3b are displayed in different colors.

Furthermore, when the supervising physician-side operation device 3 has operation authority, the control device 43 may display on the scope-type display device 24 of the doctor-side operation device 2 whether switching is possible or not based on the detection results detected by the sensor 37. Specifically, when the supervising physician-side operation device 3 has operation authority and the sensor 37 has not detected that the supervising physician A2 has his head in the scope-type display device 34, the control device 43 generates an image in which a display G3a (see FIG. 16) indicating that switching is possible is superimposed as a GUI on the endoscopic image G1, and displays the image on the scope-type display device 24 and the scope-type display device 34. Furthermore, when the supervising physician-side operation device 3 has operation authority and the sensor 37 has detected that the supervising physician A2 has his head in the scope-type display device 34, the control device 43 generates an image in which a display G3b (see FIG. 17) indicating that switching is not possible is superimposed as a GUI on the endoscopic image G1, and displays the image on the scope-type display device 24 and the scope-type display device 34. This makes it easy to check whether or not the operation authority can be switched on an operation device to which the operation authority does not belong.

In addition, the control devices 28 and 38 accept selection of the positions for displaying the displays G2a, G2b, G3a, and G3b from the screen shown in FIG. 11 displayed on the touch panels 23 and 33, in the same manner as selection of the positions for displaying the first information Ga and second information Gb.

The switching availability determination process performed by the control device 43 will be explained with reference to Figure 18.

In step S1 of FIG. 18, the system control device 17 determines whether the operator (doctor A1 or supervising physician A2) has their head in on the operation device over which they have operation authority (doctor-side operation device 2 or supervising physician-side operation device 3). Specifically, the system control device 17 determines whether the operator (doctor A1 or supervising physician A2) has their head in based on the detection results of sensor 27 or 37. If the operator (doctor A1 or supervising physician A2) has their head in, the system control device 17 proceeds to step S2; if the operator (doctor A1 or supervising physician A2) has not their head in, the system control device 17 proceeds to step S3.

In step S2, the system control device 17 determines that the operation authority cannot be switched. Based on the determination that the operation authority cannot be switched, the control device 43 displays information that the operation authority cannot be switched (display G3b (see FIG. 17)) on the scope-type display devices 24 and 34. In step S4, the system control device 17 determines that the operation authority can be switched. Based on the determination that the operation authority can be switched, the control device 43 displays information that the operation authority can be switched (display G3a (see FIG. 16)) on the scope-type display devices 24 and 34.

[Modification]
It should be noted that the embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is defined by the claims, not by the description of the above embodiments, and further includes all modifications (variations) within the meaning and scope of the claims.

For example, in the above embodiment, an example was shown in which the first information included information indicating the doctor-side operating device and the second information included information indicating the supervising physician-side operating device, but the present invention is not limited to this. In the present invention, the first information may include at least one of information indicating the doctor-side operating device, information indicating the doctor, and information regarding the first facility. Furthermore, the second information may include at least one of information indicating the supervising physician-side operating device, information indicating the supervising physician, and information regarding the second facility.

For example, as shown in FIG. 19, the first information may include the doctor's name ("AAA" in the example shown in FIG. 19) as information indicating the doctor. The second information may include the supervising doctor's name ("BBB" in the example shown in FIG. 19) as information indicating the supervising doctor. The first information and second information may also include numbers, symbols, character strings, icons, or images indicating the doctor or supervising doctor.

Furthermore, as shown in FIG. 20, the first information may include the area of the first facility ("Kobe" in the example shown in FIG. 20) as information about the first facility. Furthermore, the second information may include the area of the second facility ("Osaka" in the example shown in FIG. 20) as information about the second facility. Furthermore, the first information and second information may include the name of the facility, and numbers, symbols, or character strings that indicate the facility.

In addition, while the above embodiment shows an example in which the changeover switch is a hardware switch provided on the armrest, the present invention is not limited to this. For example, the changeover switch may be a switch displayed on a touch panel or a foot pedal 22. Operation authority may also be switched using voice recognition. Furthermore, the changeover switch may be located on the surgical robot 1 or the information sharing device 4 so that it can be operated by someone other than a doctor or supervising physician, and the changeover operation may be performed by someone other than a doctor or supervising physician.

Furthermore, in the above embodiment, an example was shown in which the control processing of the present invention was performed by multiple control devices, but the present invention is not limited to this. For example, the control processing of the present invention may be performed by a single control device.

Furthermore, in the above embodiment, an example was shown in which a scope-type display device was provided as the first display device and the second display device of the present invention, but the present invention is not limited to this. For example, a flat panel display device other than a scope-type display device may be provided as the first display device and the second display device of the present invention.

Furthermore, in the above embodiment, an example was shown in which sensors that detect the head of a doctor or supervising physician are provided as the first and second sensors of the present invention, but the present invention is not limited to this. For example, a gaze detection sensor that detects the gaze of a doctor or supervising physician may be provided as the first and second sensors of the present invention, or a sensor that detects whether a doctor or supervising physician is touching a predetermined position on the operating handle may be provided.

Furthermore, in the above embodiment, an example was shown in which the first and second audio communication devices of the present invention are audio communication devices that are integrally arranged with the scope-type display device, but the present invention is not limited to this. For example, the first and second audio communication devices of the present invention may be audio communication devices that are separate from the scope-type display device.

Furthermore, in the above embodiment, an example was shown in which an audio communication device was provided in the information sharing device, but the present invention is not limited to this. For example, an audio communication device may be provided in the surgical robot as an alternative to the audio communication device in the information sharing device.

Furthermore, while the above embodiment shows an example in which the supervising physician's side operating device 3 is installed at the second facility B2, the present invention is not limited to this. In the present invention, the doctor's side operating device and surgical robot may be located at the second facility B2, and when normal mode is selected in the mode selection, the doctor's side operating device at the second facility B2 may operate the surgical robot at the second facility B2; and when remote mode is selected in the mode selection, the doctor's side operating device at the second facility B2 may function as the supervising physician's side operating device, and the doctor's side operating device at the second facility B2 may operate the surgical robot at the first facility B1.

[Aspects]
It will be appreciated by those skilled in the art that the exemplary embodiments described above are examples of the following aspects.

(Item 1)
a first manipulator that holds an endoscope and a second manipulator that holds a surgical instrument, the first manipulator being installed in a first facility;
a doctor-side operation device that is installed in the first facility and allows a doctor to operate the first manipulator and the second manipulator;
an operating device on a supervising physician side that is installed in a second facility different from the first facility and that allows a supervising physician to operate the first manipulator and the second manipulator via an external network;
one or more controllers;
The doctor-side operation device is
a first sensor that detects whether the doctor-side operation device is in use;
a first display device for displaying an endoscopic image acquired by the endoscope;
a first switching device that receives an operation by the doctor and outputs a first command to switch operation rights between the supervising doctor side operating device and the doctor side operating device;
The supervising physician side operation device is
a second sensor that detects whether the operating device on the supervising physician side is in use;
a second display device for displaying the endoscopic image transmitted via the external network;
a second switching device that receives an operation of the supervising physician and outputs a second command for switching operation rights between the physician-side operating device and the supervising physician-side operating device,
The one or more control devices:
When the doctor-side operating device has the operating right and the first sensor does not detect that the device is in use, the operating right is switched from the doctor-side operating device to the supervising doctor-side operating device based on the second command output from the second switching device,
A remote surgery support system configured not to switch operating rights when the doctor-side operating device has operating rights, the first sensor detects that it is in use, and the second command is output from the second switching device.

(Item 2)
The one or more control devices:
When the supervising physician-side operating device has the operating right and the second sensor does not detect that the device is in use, the operating right is switched from the supervising physician-side operating device to the doctor-side operating device based on the first command output from the first switching device,
Item 1. A remote surgery support system as described in item 1, wherein the operating device on the supervising physician side has operating authority, the second sensor detects that the device is in use, and the first command is output from the first switching device, the remote surgery support system is configured not to switch operating authority.

(Item 3)
The remote surgery support system described in item 1 or 2, wherein the one or more control devices are configured to display the detection result detected by the second sensor on the first display device of the doctor-side operation device when the supervising physician-side operation device has operation authority, and to display the detection result detected by the first sensor on the second display device of the supervising physician-side operation device when the doctor-side operation device has operation authority.

(Item 4)
The one or more control devices are configured to, when the supervising physician side operating device has operating authority, display on the first display device of the physician side operating device whether or not switching is possible based on the detection result detected by the second sensor, and when the physician side operating device has operating authority, display on the second display device of the supervising physician side operating device whether or not switching is possible based on the detection result detected by the first sensor. This is the remote surgery support system described in any one of items 1 to 3.

(Item 5)
The remote surgery support system according to any one of items 1 to 4, wherein the one or more control devices are configured to, when the doctor-side operating device has operating authority, display on the first display device and the second display device first information indicating that the doctor-side operating device has operating authority, and, when the supervising physician-side operating device has operating authority, display on the first display device and the second display device second information indicating that the supervising physician-side operating device has operating authority.

(Item 6)
The one or more control devices:
When the doctor-side operating device has the operating right and the second sensor does not detect that the device is in use, the operating right is switched from the doctor-side operating device to the supervising doctor-side operating device based on the first command output from the first switching device,
6. The remote surgery support system according to any one of items 1 to 5, wherein the operating authority is switched from the operating device on the supervising physician side to the operating device on the doctor side based on the second command output from the second switching device when the operating device on the supervising physician side has the operating authority and is not detected as being in use by the first sensor.

(Item 7)
the first display device includes an immersive display device;
the first sensor is configured to detect whether the doctor has his/her head in the first display device as a usage state of the doctor-side operation device,
the second display device includes an immersive display device;
The remote surgery support system according to any one of items 1 to 6, wherein the second sensor is configured to detect whether the supervising physician has his/her head in the second display device as the usage status of the supervising physician side operation device.

(Item 8)
the doctor-side operation device includes a first voice communication device for the doctor to communicate with the supervising doctor by voice,
The remote surgery support system according to any one of items 1 to 7, wherein the supervising physician side operation device is provided with a second voice communication device for the supervising physician to communicate voice with the doctor.

(Item 9)
an information sharing device that is disposed in the first facility, includes a third display device and a third voice communication device, and is disposed closer to the first manipulator and the second manipulator than the doctor-side operation device;
the third display device is configured to display the endoscopic image acquired by the endoscope,
9. The remote surgical support system according to claim 8, wherein the third audio communication device is configured to perform audio communication with the first audio communication device and the second audio communication device.

(Item 10)
The remote surgery support system described in any one of items 1 to 9, wherein the one or more control devices are configured to notify the supervising physician side operating device and the physician side operating device of the switching of operating rights when the operating rights are switched from the supervising physician side operating device to the physician side operating device, or when the operating rights are switched from the physician side operating device to the supervising physician side operating device.

(Item 11)
the doctor-side operating device includes a first armrest,
the first switching device includes a first changeover switch disposed in the first armrest,
the operating device on the supervising physician side includes a second armrest,
The remote surgical support system according to any one of items 1 to 10, wherein the second switching device includes a second changeover switch arranged on the second armrest.

(Item 12)
the doctor-side operating device includes a first operating device for the doctor to operate the second manipulator,
the instructor-side operation device includes a second operation device for the instructor to operate the second manipulator,
The one or more control devices:
after the operation right is switched from the supervising physician-side operation device to the physician-side operation device, when the first sensor detects that the device is in use, the first operation device starts operating the second manipulator in response to receiving a predetermined operation from the first operation device,
Item 12. The remote surgery support system according to any one of items 1 to 11, wherein, after the operating right is switched from the doctor-side operating device to the supervising doctor-side operating device, if the second sensor detects that the device is in use, the remote surgery support system is configured to start operating the second manipulator by the second operating device in response to the second operating device receiving a predetermined operation.

(Item 13)
the doctor-side operation device includes a first operation device for the doctor to operate the first manipulator or the second manipulator,
the instructor-side operation device includes a second operation device for the instructor to operate the first manipulator or the second manipulator,
The remote surgery support system according to any one of items 1 to 12, wherein the one or more control devices are configured to control the first manipulator so that, when the supervising physician side operation device has operation rights, the first operation device can be operated, but the first manipulator and the second manipulator cannot be operated by operation of the first operation device.

(Item 14)
The surgical instrument further includes a third manipulator and a fourth manipulator, which are installed in the first facility and hold a surgical instrument;
the doctor-side operation device is configured to operate the first manipulator, the second manipulator, the third manipulator, and the fourth manipulator,
Item 14. The remote surgery support system according to any one of items 1 to 13, wherein the supervising physician side operation device is configured to operate the first manipulator, the second manipulator, the third manipulator, and the fourth manipulator via the external network.

(Item 15)
The remote surgery support system according to any one of items 1 to 14, wherein the one or more control devices set operation rights for operating the first manipulator and the second manipulator in the doctor-side operation device by default.

(Item 16)
a first network device installed in the first facility;
a first remote unit installed at the first facility and connected to the first network device, the first remote unit converting communication data into a format that can be communicated over the network;
a connection unit installed in the first facility and connected to the first remote unit, the doctor-side operation device, the first manipulator, and the second manipulator;
a second network device that is installed in the second facility and communicates with the first network device via the external network;
and a second remote unit that is installed in the second facility, connected to the supervising physician side operation device and the second network device, and converts communication data into a format that can be communicated via a network.

(Item 17)
Item 17. The remote surgical support system described in item 16, wherein the one or more control devices include a GUI generation control device installed in the first facility and configured to generate a GUI to be superimposed on the endoscopic image, and the first manipulator and the second manipulator are connected to the connection unit via the GUI generation control device.

1: Surgical robot, 2: Doctor's operation device, 3: Supervising doctor's operation device, 4: Information sharing device (GUI generation control device), 5: Endoscope, 6: Surgical instrument, 7: Dual unit (connection unit), 11: Manipulator arm (first manipulator), 12: Manipulator arm (second manipulator, third manipulator, fourth manipulator), 16: Control device (one or more control devices), 21: Operation handle (first operation device), 24: Scope-type display device (first display device), 25: Armrest (first armrest), 26: Voice communication device (first voice communication device), 27: Sensor (first sensor), 28: Control device (one or more control devices), 31: Operation handle (second operation device), 34: Scope-type display device (second display device), 3 5: Armrest (second armrest), 36: Audio communication device (second audio communication device), 37: Sensor (second sensor), 38: Control device (one or more control devices), 41: Display device (third display device), 42: Audio communication device (third audio communication device), 43: Control device (one or more control devices), 51: Network device (first network device), 52: Network device (second network device), 61: Remote unit (first remote unit), 62: Remote unit (second remote unit), 100: Remote surgery support system, 251: Switch (first switch, first switch), 351: Switch (second switch, second switch), A1: Doctor, A2: Supervising physician, B1: First facility, B2: Second facility, N: External network

Claims (17)

a first manipulator that holds an endoscope and a second manipulator that holds a surgical instrument, the first manipulator being installed in a first facility;
a doctor-side operation device that is installed in the first facility and allows a doctor to operate the first manipulator and the second manipulator;
an operating device on a supervising physician side that is installed in a second facility different from the first facility and that allows a supervising physician to operate the first manipulator and the second manipulator via an external network;
one or more controllers;
The doctor-side operation device is
a first sensor that detects whether the doctor-side operation device is in use;
a first display device for displaying an endoscopic image acquired by the endoscope;
a first switching device that receives an operation by the doctor and outputs a first command to switch operation rights between the supervising doctor side operating device and the doctor side operating device;
The supervising physician side operation device is
a second sensor that detects whether the operating device on the supervising physician side is in use;
a second display device for displaying the endoscopic image transmitted via the external network;
a second switching device that receives an operation of the supervising physician and outputs a second command for switching operation rights between the physician-side operating device and the supervising physician-side operating device,
The one or more control devices:
When the doctor-side operating device has the operating right and the first sensor does not detect that the device is in use, the operating right is switched from the doctor-side operating device to the supervising doctor-side operating device based on the second command output from the second switching device,
A remote surgery support system configured not to switch operating rights when the doctor-side operating device has operating rights, the first sensor detects that it is in use, and the second command is output from the second switching device. The one or more control devices:
When the supervising physician-side operating device has the operating right and the second sensor does not detect that the device is in use, the operating right is switched from the supervising physician-side operating device to the doctor-side operating device based on the first command output from the first switching device,
2. The remote surgery support system according to claim 1, wherein the operating device on the supervising physician side has operating authority, the second sensor detects that the device is in use, and the first command is output from the first switching device, the remote surgery support system is configured not to switch operating authority. The remote surgery support system of claim 1, wherein the one or more control devices are configured to display the detection results detected by the second sensor on the first display device of the doctor-side operation device when the doctor-side operation device has operation authority, and to display the detection results detected by the first sensor on the second display device of the doctor-side operation device when the doctor-side operation device has operation authority. The remote surgery support system of claim 1, wherein the one or more control devices are configured to, when the supervising physician-side operation device has operation authority, display on the first display device of the physician-side operation device whether or not switching is possible based on the detection result detected by the second sensor, and when the physician-side operation device has operation authority, display on the second display device of the supervising physician-side operation device whether or not switching is possible based on the detection result detected by the first sensor. The remote surgery support system of claim 1, wherein the one or more control devices are configured to, when the doctor-side operation device has operation authority, display on the first display device and the second display device first information indicating that the doctor-side operation device has operation authority, and, when the supervising doctor-side operation device has operation authority, display on the first display device and the second display device second information indicating that the supervising doctor-side operation device has operation authority. The one or more control devices:
When the doctor-side operating device has the operating right and the second sensor does not detect that the device is in use, the operating right is switched from the doctor-side operating device to the supervising doctor-side operating device based on the first command output from the first switching device,
2. The remote surgery support system according to claim 1, wherein when the supervising physician side operating device has operating authority and the first sensor does not detect that the device is in use, the operating authority is switched from the supervising physician side operating device to the doctor side operating device based on the second command output from the second switching device. the first display device includes an immersive display device;
the first sensor is configured to detect whether the doctor has his/her head in the first display device as a usage state of the doctor-side operation device,
the second display device includes an immersive display device;
2. The remote surgery support system according to claim 1, wherein the second sensor is configured to detect whether the supervising surgeon has his/her head in the second display device as the usage status of the supervising surgeon's operation device. the doctor-side operation device includes a first voice communication device for the doctor to communicate with the supervising doctor by voice,
The remote surgery support system according to claim 1 , wherein the operating device on the supervising physician side includes a second voice communication device for the supervising physician to perform voice communication with the medical doctor. an information sharing device that is disposed in the first facility, includes a third display device and a third voice communication device, and is disposed closer to the first manipulator and the second manipulator than the doctor-side operation device;
the third display device is configured to display the endoscopic image acquired by the endoscope,
The remote surgery support system according to claim 8 , wherein the third audio communication device is configured to perform audio communication with the first audio communication device and the second audio communication device. The remote surgery support system of claim 1, wherein the one or more control devices are configured to notify the supervising physician side operation device and the physician side operation device of the operation right switch when the operation right is switched from the supervising physician side operation device to the physician side operation device, or when the operation right is switched from the physician side operation device to the supervising physician side operation device. the doctor-side operating device includes a first armrest,
the first switching device includes a first changeover switch disposed in the first armrest,
the operating device on the supervising physician side includes a second armrest,
The remote surgical support system according to claim 1 , wherein the second switching device includes a second changeover switch disposed on the second armrest. the doctor-side operating device includes a first operating device for the doctor to operate the second manipulator,
the instructor-side operation device includes a second operation device for the instructor to operate the second manipulator,
The one or more control devices:
after the operation right is switched from the supervising physician-side operation device to the physician-side operation device, when the first sensor detects that the device is in use, the first operation device starts operating the second manipulator in response to receiving a predetermined operation from the first operation device,
2. The remote surgery support system according to claim 1, wherein, after operation authority is switched from the doctor-side operation device to the supervising doctor-side operation device, if the second sensor detects that the device is in use, the second operation device starts operating the second manipulator in response to receiving a predetermined operation from the second operation device. the doctor-side operation device includes a first operation device for the doctor to operate the first manipulator or the second manipulator,
the instructor-side operation device includes a second operation device for the instructor to operate the first manipulator or the second manipulator,
2. The remote surgery support system according to claim 1, wherein the one or more control devices are configured to control the first manipulator and the second manipulator so that, when the supervising physician's operating device has operating authority, the first operating device can be operated, but the first manipulator and the second manipulator cannot be operated by the operation of the first operating device. The surgical instrument further includes a third manipulator and a fourth manipulator, which are installed in the first facility and hold a surgical instrument;
the doctor-side operation device is configured to operate the first manipulator, the second manipulator, the third manipulator, and the fourth manipulator,
2. The remote surgery support system according to claim 1, wherein the supervising physician side operation device is configured to operate the first manipulator, the second manipulator, the third manipulator, and the fourth manipulator via the external network. The remote surgery support system according to claim 1, wherein the one or more control devices initially set the operating authority for operating the first manipulator and the second manipulator in the surgeon-side operating device. a first network device installed in the first facility;
a first remote unit installed at the first facility and connected to the first network device, the first remote unit converting communication data into a format that can be communicated over the network;
a connection unit installed in the first facility and connected to the first remote unit, the doctor-side operation device, the first manipulator, and the second manipulator;
a second network device that is installed in the second facility and communicates with the first network device via the external network;
2. The remote surgery support system of claim 1, further comprising: a second remote unit installed in the second facility, connected to the supervising physician's operating device and the second network device, and configured to convert communication data into a format that can be communicated via a network. The remote surgery support system of claim 16, wherein the one or more control devices include a GUI generation control device installed in the first facility that generates a GUI to be superimposed on the endoscopic image, and the first manipulator and the second manipulator are connected to the connection unit via the GUI generation control device.