Surgical system

{
  "publication_number": "US11033347B2",
  "country": "US",
  "kind": "B2",
  "title": "Surgical system",
  "abstract": "A surgical system capable of securing a large movable range of a tip end of a surgical instrument even when the surgical instrument is inserted into a narrow region. One example of the surgical system includes: a manipulator; a surgical instrument including a shaft coupled to a tip end portion of the manipulator; a manipulation input portion to which an operator inputs a command regarding a position and posture of the surgical instrument; a control apparatus configured to control an operation of the manipulator based on the command input to the manipulation input portion; and a motion center position setting portion configured to set a desired position as a motion center position of the surgical instrument in the control apparatus, the desired position being located in an inner part under a body surface of the patient.",
  "claims": [
    "1. A surgical system comprising: a manipulator including a tip end portion and a base end portion, the tip end portion being configured to move relative to the base end portion in a three-dimensional space; a surgical instrument including: a rod-shaped shaft coupled to the tip end portion of the manipulator, and a treatment tool provided at a tip end portion of the shaft; a manipulation input portion to which an operator inputs a command regarding a position and a posture of the surgical instrument; a control apparatus configured to control an operation of the manipulator based on the inputted command; and a motion center position setting portion configured to set a desired position in the control apparatus as a motion center position of the surgical instrument inserted into an incised part of a patient, the desired position being located in an inner part under a body surface of the patient and located separated away from the incised part of the patient by a predetermined distance, wherein the control apparatus is configured to control the operation of the manipulator such that in a case where the control apparatus controls the operation of the manipulator based on the inputted command after the surgical instrument is inserted into a body of the patient through the incised part, the surgical instrument being arranged with the shaft passing through the motion center position, and the position and the posture of the surgical instrument are changed while maintaining a state where the shaft is located at the motion center position.",
    "2. The surgical system according to claim 1, wherein the motion center position setting portion includes a motion center position setting manipulation portion configured to perform an operation of setting the position as the motion center position in the control apparatus, when the surgical instrument is inserted into the body of the patient through the incised part, and a predetermined reference point of the surgical instrument is located at the desired position in the body.",
    "3. The surgical system according to claim 1, further comprising: an initial incised position setting portion configured to set a position of the incised part on the body surface of the patient as an initial incised position in the control apparatus; and a warning device configured to output a warning to the operator when the shaft is displaced from the initial incised position, and a predetermined condition is satisfied in a case where the control apparatus controls the operation of the manipulator after the surgical instrument is inserted into the body of the patient through the incised part, and the surgical instrument is arranged with the shaft passing through the motion center position.",
    "4. The surgical system according to claim 1, wherein the motion center position setting portion includes: an initial incised position setting portion configured to set a position of the incised part on the body surface of the patient as an initial incised position in the control apparatus; and a calculating portion configured to calculate a position located away from the initial incised position by the predetermined distance in a predetermined direction and set the position as the motion center position in the control apparatus.",
    "5. The surgical system according to claim 4, further comprising a warning device configured to output a warning to the operator when the shaft is displaced from the initial incised position, and a predetermined condition is satisfied in a case where the control apparatus controls the operation of the manipulator after the surgical instrument is inserted into the body of the patient through the incised part, and the surgical instrument is arranged with the shaft passing through the motion center position.",
    "6. The surgical system according to claim 3, wherein the predetermined condition is a condition in which a distance between the initial incised position and a position located away from the motion center position on a central axis of the current shaft by a distance between the initial incised position and the motion center position is equal to or greater than a predetermined value.",
    "7. The surgical system according to claim 3, wherein the predetermined condition is a condition in which a distance between the initial incised position and an intersecting position is equal to or greater than a predetermined value, the intersecting position being calculated as a position where a central axis of the current shaft intersects with a flat plane perpendicular to a vector, the vector passing through the initial incised position and extending from the motion center position toward the initial incised position.",
    "8. The surgical system according to claim 3, wherein the initial incised position setting portion includes an initial incised position setting manipulation portion configured to perform an operation of setting the position as the initial incised position in the control apparatus, when the surgical instrument is inserted into the body of the patient through the incised part, and a predetermined reference point of the surgical instrument is located at a position of the incised part on the body surface of the patient.",
    "9. The surgical system according to claim 1, further comprising a warning device configured to output a warning to the operator when an angle formed by a vector indicating a direction of a central axis of the shaft when the motion center position is set and a vector indicating a direction of the central axis of the current shaft is equal to or greater than a predetermined angle in a case where the control apparatus controls the operation of the manipulator after the surgical instrument is inserted into the body of the patient through the incised part, and the surgical instrument is arranged with the shaft passing through the motion center position.",
    "10. The surgical system according to claim 1, wherein the motion center position is defined between adjacent bones in the body of the patient."
  ],
  "description_excerpt": "The present invention relates to a surgical system.\n\nA system including a manipulator used in surgery is conventionally known (see PTLs 1 and 2, for example).\n\nIn such system, a surgical instrument is attached to a tip end portion of the manipulator (arm). The surgical instrument includes a long and thin rod-shaped shaft. A treatment tool, such as forceps, is attached to a tip end of the shaft and is inserted into a body of a patient through an incised part of the patient. The manipulator is controlled by remote control of an operator. Thus, the position and posture of the surgical instrument can be changed.\n\nPTL 1: Published Japanese Translation of PCT Application No. 2002-530209\n\nPTL 2: Published Japanese Translation of PCT Application No. 2015-502814\n\nAccording to the above conventional system, a motion center position of the surgical instrument when the position and posture of the surgical instrument is changed is located on a body surface of the patient or in the vicinity of the body surface. Therefore, for example, in thoracic surgery, when the surgical instrument is inserted between bones, such as ribs, the surgical instrument is manipulated such that the shaft of the surgical instrument does not contact the bones during the surgery. On this account, a movable range of a tip end of the surgical instrument is small, and this makes it difficult to perform the surgery.",
  "cpc": [
    "A61B 34/37",
    "A61B 2034/301",
    "A61B 2034/302",
    "A61B 2090/061",
    "A61B 2090/067",
    "A61B 2090/0807",
    "A61B 34/35",
    "A61B 90/06",
    "A61B 90/08",
    "B25J 3/00"
  ],
  "ipc": [
    "A61B 34/30",
    "A61B 34/37",
    "A61B 90/00",
    "B25J 3/00"
  ],
  "assignees": [
    "Kawasaki Jukogyo KK"
  ],
  "inventors": [
    "Mitsuichi Hiratsuka",
    "Tetsuya Nakanishi"
  ],
  "filing_date": "2017-04-12",
  "publication_date": "2021-06-15",
  "grant_date": "2021-06-15",
  "priority_date": "2016-04-15",
  "application_number": "US-201716093699-A",
  "family_id": "60042165",
  "cited_by_count": 2,
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}