Operation support system and control method of operation support system

摘要

An operation support system performing treatment on a target tissue while observing using an image capturing unit, using a treatment unit installed at a distal end side of a manipulator, a distal end seen from a fixing end of the manipulator, includes: the manipulator having joints corresponding to degrees of freedom and including at least two redundant joints having a redundant relationship among the joints; an operating unit configured to provide operating information corresponding to the degrees of freedom; a positional relationship calculation unit calculating a switching positional relationship between the target tissue or the treatment unit and the image capturing unit; and a control unit controlling an operation of the joint according to the operating information. The control unit controls the manipulator using one redundant joint as a driving joint and the other redundant joints as a fixing joint based on the switching positional relationship.

主权项

1. An operation support system configured to perform treatment on a target tissue, which is a treatment target, while observing by using an image sensor, using a treatment device installed at a distal end side of a slave manipulator, which is a distal end when seen from a fixing end of the slave manipulator, the operation support system comprising:
the slave manipulator having a plurality of joints corresponding to a plurality of degrees of freedom and including at least two redundant joints having a redundant relationship among the plurality of joints; a master manipulator configured to provide operating information corresponding to the plurality of degrees of freedom; and a controller configured to:
calculate a switching positional relationship between the target tissue or the treatment device and the image sensor; andcontrol an operation of each of the plurality of joints according to the operating information, wherein the controller controls the slave manipulator using one of the at least two redundant joints as a driving joint and an other of the at least two redundant joints as a fixing joint based on the switching positional relationship.