JP7350910B2 - Operation pedal device and remote control device - Google Patents

Description

The present invention relates to a control pedal device and a remote control device, and particularly to a control pedal device and a remote control device for operating medical instruments.

Conventionally, an operating pedal device for operating a medical instrument is known (for example, see Patent Document 1).

The above-mentioned Patent Document 1 describes an operation pedal device used for a remote control device of a surgical system. In this operation pedal device, a plurality of pedals having different heights are arranged alternately in the left and right direction on a pedal tray.

JP 2018-202027 Publication

The operation pedal device described in Patent Document 1 has a plurality of pedals of different heights arranged alternately in the left and right direction, so it has the advantage that the arrangement of each pedal is easy to understand and easy to operate intuitively. On the other hand, there is a desire for a control pedal device and a remote control device that can further improve the operability of the operator.

The present invention provides a control pedal device and a remote control device that can further improve operability for an operator.

An operation pedal device according to a first aspect of the present invention is an operation pedal device used for a remote control device of a surgical system, and includes a pedal tray, and is disposed on the pedal tray and has a substantially L-shape in plan view . and a second pedal arranged on the pedal tray and formed in a substantially L-shape when viewed from the front, the first pedal being formed to extend in the front-rear direction of the pedal tray. and a second portion formed to extend in the left-right direction by being connected to the left-right end of the first portion, and the second pedal extends in the front-rear direction of the pedal tray. and a fourth portion connected to the left-right end of the third portion at a position higher than the upper end of the first pedal and extending in the left-right direction.

In the operating pedal device according to the first aspect of the present invention, as described above, the pedal is formed into a substantially L-shape in plan view or front view. Thereby, the size of the portion of the pedal operated by the foot in the left and right direction can be increased. As a result, the pedal can be easily operated without visually confirming the position of the pedal, thereby further improving the operability of the operator.

A remote control device according to a second aspect of the invention includes a first manipulator that supports a first medical device, a second manipulator that supports a second medical device, and a camera arm that supports an endoscope. A remote control device for remotely operating a side system, comprising a first operation handle for an operator to operate a first manipulator with his right hand, and a second operation handle for an operator to operate a second manipulator with his left hand. an operation handle, a display unit that displays an image from the endoscope, a first pedal and a second pedal for respectively performing a first function and a second function related to the first medical device, and a first pedal related to the second medical device. a third pedal and a fourth pedal for respectively performing the function and the second function; and an operating pedal device including a pedal tray in which the first to fourth pedals are arranged, the first and third pedals , a first part formed to extend in the front-rear direction of the pedal tray, and a second part connected to the left-right end of the first part and formed to extend in the left-right direction, when viewed from above. The second and fourth pedals are formed in a substantially L-shape, and each of the second and fourth pedals has a third portion formed to extend in the front-rear direction of the pedal tray, and a first pedal at the left-right end of the third portion. The fourth part is connected at a position higher than the upper end of the pedal and is formed to extend in the left-right direction, and is formed in a substantially L-shape when viewed from the front.

In the remote control device according to the second aspect of the invention, as described above, the first to fourth pedals of the control pedal device are each formed into a substantially L-shape in plan view or front view. Thereby, the size of the portion of the pedal operated by the foot in the left and right direction can be increased. As a result, it is possible to easily operate the pedal without visually confirming the position of the pedal, so it is possible to provide a remote control device that can further improve the operability of the operator.

According to the present invention, it is possible to provide a control pedal device and a remote control device that can further improve operability for an operator.

FIG. 1 is a diagram showing the configuration of a surgical system according to a first embodiment. FIG. 1 is a block diagram showing a control configuration of the surgical system according to the first embodiment. FIG. 1 is a perspective view showing an operating pedal device according to a first embodiment. FIG. 2 is a plan view showing the operation pedal device according to the first embodiment. FIG. 2 is a perspective view showing a coagulation pedal of the operating pedal device according to the first embodiment. FIG. 2 is a perspective view showing an incision pedal of the operation pedal device according to the first embodiment. 4 is a sectional view taken along line VII-VII in FIG. 3. FIG. FIG. 3 is a sectional view showing a coagulation pedal of the operating pedal device according to the first embodiment. FIG. 3 is a sectional view showing an incision pedal of the operating pedal device according to the first embodiment. FIG. 3 is a sectional view showing a switching pedal of the operating pedal device according to the first embodiment. FIG. 7 is a perspective view showing an operating pedal device according to a second embodiment. FIG. 7 is a plan view showing an operating pedal device according to a second embodiment. FIG. 7 is a cross-sectional view showing a switching pedal of an operating pedal device according to a second embodiment. FIG. 7 is a perspective view showing an operating pedal device according to a third embodiment. FIG. 7 is a plan view showing an operating pedal device according to a third embodiment.

Hereinafter, embodiments will be described based on the drawings.

[First embodiment]
(Configuration of remote control device)
The configuration of the remote control device 2 according to the first embodiment will be described with reference to FIGS. 1 to 10.

As shown in FIGS. 1 and 2, the surgical system 100 includes a medical manipulator 1, which is a patient P-side device, and a remote control device 2, which is an operator-side device for operating the medical manipulator 1. There is. The medical manipulator 1 includes a medical cart 3 and is configured to be movable. The remote control device 2 is arranged at a position separated from the medical manipulator 1, and the medical manipulator 1 is configured to be remotely controlled by the remote control device 2. An operator (such as a doctor) inputs a command to the remote control device 2 to cause the medical manipulator 1 to perform a desired operation. The remote control device 2 transmits the input command to the medical manipulator 1. The medical manipulator 1 operates based on the received command. Further, the medical manipulator 1 is placed in an operating room which is a sterilized field.

The remote control device 2 is arranged, for example, inside or outside the operating room. The remote control device 2 includes an operation handle 21, an operation pedal device 22, a touch panel 23, a display section 24, a support arm 25, and an armrest 26. The operating handle 21 constitutes an operating handle through which an operator (operator) inputs commands.

The operating handle 21 is configured to operate the medical instruments 4a, 4b and 4c. Further, the operating handle 21 receives operating amounts for the medical instruments 4a, 4b, and 4c. The operating handle 21 includes an operating handle 21L that is placed on the left side and is operated by the operator's left hand when viewed from the operator (operator), and an operating handle 21R that is placed on the right side and is operated by the operator's right hand. , contains. The medical device 4a is an example of a "first medical device" in the claims, the medical device 4b is an example of a "second medical device" in the claims, and the medical device 4c is an example of a "second medical device" in the claims. This is an example of a "third medical device" in the claims. Further, the operating handle 21R is an example of a "first operating handle" in the claims, and the operating handle 21L is an example of a "second operating handle" in the claims.

Further, the operation handle 21 changes (scales) the movement amount of the robot arm 60 (medical instruments 4a, 4b, and 4c) with respect to the operation amount accepted by the operation handle 21. For example, when the magnification of the movement amount is set to 1/2, the medical instruments 4a, 4b, and 4c are controlled to move a movement distance that is 1/2 of the movement distance of the operation handle 21. This allows detailed surgery to be performed accurately.

As shown in FIG. 3, the operating pedal device 22 is used in the remote operating device 2 of the surgical system 100. Further, the operating pedal device 22 is provided with a plurality of pedals to perform functions related to the medical instruments 4a, 4b, and 4c. The operation pedal device 22 includes a pedal tray 221 and pedals arranged on the pedal tray 221.

The plurality of pedals include coagulation pedals 22aL, 22aR, incision pedals 22bL, 22bR, camera pedal 22c, clutch pedal 22d, and switching pedal 22e. The coagulation pedals 22aL, 22aR, the incision pedals 22bL, 22bR, the camera pedal 22c, the clutch pedal 22d, and the switching pedal 22e are operated by the operator's feet. The coagulation pedal 22aL is an example of the "first pedal" or "third pedal" in the claims, and the coagulation pedal 22aR is an example of the "first pedal" in the claims. Further, the incision pedal 22bL is an example of a "second pedal" or a "fourth pedal" in the claims, and the incision pedal 22bR is an example of a "second pedal" in the claims. Further, the camera pedal 22c is an example of the "first pedal" or "fifth pedal" in the claims, and the clutch pedal 22d is an example of the "second pedal" or "sixth pedal" in the claims. This is an example. Further, the switching pedal 22e is an example of a "seventh pedal" in the claims.

The coagulation pedal 22aR and the incision pedal 22bR are operated to perform a first function (coagulation) and a second function (incision), respectively, regarding the medical instrument 4a or 4c operated by the right operation handle 21R. Further, the coagulation pedal 22aL and the incision pedal 22bL are operated to respectively perform a first function (coagulation) and a second function (incision) regarding the medical instrument 4b or 4c operated by the left operation handle 21L.

The coagulation pedals 22aL and 22aR can perform an operation of coagulating the surgical site using the medical instruments 4a, 4b, and 4c. Specifically, when the coagulation pedals 22aL and 22aR are operated, a coagulation voltage is applied to the medical instruments 4a, 4b, and 4c, and the surgical site is coagulated. The coagulation pedal 22aL is arranged on the left side (X1 direction side) of the coagulation pedal 22aR. The coagulation pedal 22aL can operate the medical instrument 4b or 4c operated by the left operation handle 21L. Further, the coagulation pedal 22aR can operate the medical instrument 4a or 4c operated by the right operation handle 21R.

The incision pedals 22bL and 22bR can perform an operation to incise the surgical site using the medical instruments 4a, 4b, and 4c. Specifically, when the incision pedals 22bL and 22bR are operated, an incision voltage is applied to the medical instruments 4a, 4b, and 4c, and the surgical site is incised. The incision pedal 22bL is arranged on the left side (X1 direction side) of the incision pedal 22bR. The incision pedal 22bL can operate the medical instrument 4b or 4c operated by the left operating handle 21L. Further, the incision pedal 22bR can operate the medical instrument 4a or 4c operated by the right operation handle 21R.

The camera pedal 22c is operated to cause the operating handles 21R and 21L to perform functions related to the endoscope 6. That is, the camera pedal 22c is provided for inputting a command for moving the endoscope 6. Specifically, a command for moving the endoscope 6 is input by operating the camera pedal 22c by the operator. Further, when a command to enable the movement of the endoscope 6 is inputted by the camera pedal 22c (that is, while the camera pedal 22c is depressed by the operator), the endoscope 6 is moved by the operation handle 21R and the operation handle 21R. It is configured to be moved by operating both handles 21L.

The clutch pedal 22d is operated to temporarily disconnect the operating connection between the operating handle 21R and the robot arm 60a or 60d and the operating connection between the operating handle 21L and the robot arm 60b or 60d. That is, the clutch pedal 22d is used when temporarily disconnecting the robot arm 60 from the operating handles 21R and 21L to stop the operation of the medical instruments 4a, 4b, and 4c. Specifically, while the clutch pedal 22d is being operated, the robot arm 60 of the medical manipulator 1 does not operate even if the operating handles 21R and 21L are operated. For example, when the operation handles 21R and 21L come near the end of the movable range due to operation, the clutch pedal 22d is operated to temporarily disconnect the operation connection and move the operation handles 21R and 21L to the center position. It can be returned nearby. Then, when the operation of the clutch pedal 22d is released, the robot arm 60 and the operating handles 21R and 21L are connected again, and the operating handles 21R and 21L can be operated again near the center.

The switching pedal 22e is configured to switch the robot arm 60 operated by the operation handles 21R and 21L. Specifically, the switching pedal 22e switches the object that is operatively connected to the operation handle 21R between the robot arm 60a and the robot arm 60d, or switches the object that is operatively connected to the operation handle 21L between the robot arm 60b and the robot arm. 60d. For example, by operating the switching pedal 22e, the robot arm 60a operated by the right operating handle 21R is switched to the robot arm 60d. Alternatively, by operating the switching pedal 22e, the robot arm 60b operated by the left operating handle 21L is switched to the robot arm 60d.

As shown in FIG. 1, the display unit 24 is a scope-type display device for displaying images captured by the endoscope 6. The support arm 25 supports the display section 24 so that the height of the display section 24 matches the height of the operator's (surgeon) face. The touch panel 23 is arranged on the armrest 26. The medical manipulator 1 can be operated by the remote control device 2 by detecting the operator's head with a sensor (not shown) provided near the display section 24 . The operator operates the operating handle 21 and the operating pedal device 22 while viewing the affected area on the display unit 24 . As a result, a command is input to the remote control device 2. Commands input to the remote control device 2 are transmitted to the medical manipulator 1.

The medical cart 3 is provided with a control section 31 that controls the operation of the medical manipulator 1, and a storage section 32 that stores programs and the like for controlling the operation of the medical manipulator 1. Based on the command input to the remote control device 2, the control unit 31 of the medical cart 3 controls the operation of the medical manipulator 1.

Furthermore, the medical trolley 3 is provided with an input device 33. The input device 33 is configured to accept operations for moving and changing postures of the positioner 40, the arm base 50, and the plurality of robot arms 60, mainly in order to prepare for the surgery before the surgery.

A medical manipulator 1 shown in FIG. 1 is placed in an operating room. The medical manipulator 1 includes a medical cart 3, a positioner 40, an arm base 50, and a plurality of robot arms 60 (60a, 60b, 60c, and 60d). The arm base 50 is attached to the tip of the positioner 40. The arm base 50 has a relatively long rod shape (long shape). Furthermore, the base end portion of each of the plurality of robot arms 60 is attached to the arm base 50. The plurality of robot arms 60 are configured to be able to take a folded posture (storage posture). The arm base 50 and the plurality of robot arms 60 are used while being covered with a sterile drape (not shown). Further, the robot arm 60 supports the medical instruments 4a to 4c and the endoscope 6.

The positioner 40 is configured by, for example, a seven-axis articulated robot. Furthermore, the positioner 40 is placed on the medical trolley 3. Positioner 40 moves arm base 50. Specifically, the positioner 40 is configured to move the position of the arm base 50 in three dimensions.

Further, the positioner 40 includes a base portion 41 and a plurality of link portions 42 connected to the base portion 41. The plurality of link parts 42 are connected to each other by joint parts 43.

As shown in FIG. 1, medical instruments 4a to 4c and an endoscope 6 are attached to the tip of each of the plurality of robot arms 60. A medical instrument 4a is attached to the robot arm 60a. Furthermore, a medical instrument 4b is attached to the robot arm 60b. Further, an endoscope 6 is attached to the robot arm 60c. Furthermore, a medical instrument 4c is attached to the robot arm 60d. Note that the robot arm 60a is an example of a "first manipulator" in the claims, the robot arm 60b is an example of a "second manipulator" in the claims, and the robot arm 60d is an example of a "second manipulator" in the claims. This is an example of the "third manipulator" of the range. Furthermore, the robot arm 60c is an example of a "camera arm" in the claims.

The robot arm 60 is provided with a translation mechanism section 70 at its tip. The translation mechanism section 70 is provided on the distal end side of the robot arm 60, and the medical instruments 4a to 4c or the endoscope 6 are attached thereto. Further, the translation mechanism unit 70 translates the medical instruments 4a to 4c and the endoscope 6 in the direction of insertion into the patient P. Further, the translation mechanism section 70 is configured to translate the medical instruments 4a to 4c and the endoscope 6 relative to the robot arm 60.

Medical instruments 4a to 4c are removably attached to the tips of robot arms 60a, 60b and 60d, respectively. The medical instruments 4a to 4c include a housing attached to the robot arm 60 and an end effector provided at the tip of an elongated shaft. Examples of the end effector include, but are not limited to, grasping forceps, scissors, hooks, high-frequency knives, snare wires, clamps, and staplers, and various treatment tools can be used. In surgery using the medical manipulator 1, medical instruments 4a to 4c are introduced into the body of the patient P via a cannula (trocar) placed on the patient's P body surface. As a result, the end effectors of the medical instruments 4a to 4c are placed near the surgical site.

The endoscope 6 is detachably attached to the tip of the robot arm 60c. The endoscope 6 is for photographing the inside of the body cavity of the patient P, and the photographed images are output to the remote control device 2. As the endoscope 6, a 3D endoscope or a 2D endoscope that can take three-dimensional images is used. In surgery using the medical manipulator 1, the endoscope 6 is introduced into the body of the patient P via a trocar placed on the body surface of the patient P, thereby bringing the endoscope 6 into the vicinity of the surgical site. Placed. Images captured by the endoscope 6 are transmitted to the image control unit 8. The image control unit 8 processes the image captured by the endoscope 6 and causes the display unit 24 to display the processed image. Further, the image control unit 8 performs a process of overlapping a user interface on the image captured by the endoscope 6.

As shown in FIGS. 3 and 4, the operation pedal device 22 includes, from the right side (X2 side) to the left side (X1 side), a coagulation pedal 22aR, an incision pedal 22bR, a coagulation pedal 22aL, an incision pedal 22bL, and a clutch pedal. 22d, a camera pedal 22c, and a switching pedal 22e are arranged in this order.

Further, the operating pedal device 22 includes a plurality of sensors 223a, 223b, and 223c for detecting the presence of a foot operating each pedal. The sensors 223a, 223b, and 223c each have a light emitting section and a light receiving section. The sensors 223a, 223b, and 223c detect the presence of a foot when light from the light emitting section is blocked by the foot and light reception by the light receiving section is interrupted. That is, the sensors 223a, 223b, and 223c are cut-off type sensors. The sensors 223a, 223b, and 223c detect that the operator's foot is placed in the operation preparation position of each pedal. The sensor 223a detects that the operator's foot is placed near the coagulation pedal 22aR and the incision pedal 22bR. The sensor 223b detects that the operator's foot is placed near the coagulation pedal 22aL and the incision pedal 22bL. The sensor 223c detects that the operator's foot is placed near the camera pedal 22c and the clutch pedal 22d.

Here, in the first embodiment, the coagulation pedal 22aR and the coagulation pedal 22aL include a first portion 201a formed to extend in the front-rear direction (Y direction) of the pedal tray 221, and a left-right side of the first portion 201a. A second portion 202a is connected to the end portion and is formed to extend in the left-right direction (X direction). The incision pedal 22bR and the incision pedal 22bL are connected to a third portion 201b formed to extend in the front-rear direction (Y direction) of the pedal tray 221, and an end portion of the third portion 201b on the left-right direction, and are connected to the left-right direction (Y direction). a fourth portion 202b formed to extend in the X direction). The camera pedal 22c is connected to a fifth portion 201c formed to extend in the front-rear direction (Y direction) of the pedal tray 221, and to the left-right end of the fifth portion 201c, and extends in the left-right direction (X direction). and a sixth portion 202c formed to extend. The clutch pedal 22d is connected to a seventh portion 201d formed to extend in the front-rear direction (Y direction) of the pedal tray 221, and to the left-right end of the seventh portion 201d, and extends in the left-right direction (X direction). and an eighth portion 202d formed to extend. The coagulation pedals 22aR, 22aL, the incision pedals 22bR, 22bL, the camera pedal 22c, and the clutch pedal 22d are formed into a substantially L-shape in plan view or front view. Here, the approximate L-shape refers to an L-shape, a vertically inverted L-shape that is an L-shape that is upside down, a horizontally inverted L-shape that is an L-shape that is horizontally inverted, and an L-shape that is an L-shape that is upside down and left and right. Includes an inverted L-shape that is upside down, left and right.

Accordingly, since each pedal is formed into a substantially L-shape, the size of the portion of the pedal operated by the foot in the left-right direction can be increased. This allows the pedal to be easily operated without visually confirming the position of the pedal, thereby further improving the operability of the operator.

Specifically, as shown in FIG. 5, the coagulation pedal 22aR and the coagulation pedal 22aL include a first portion 201a formed to extend in the front-rear direction (Y direction) of the pedal tray 221, and a distal end of the first portion 201a. The second portion 202a is connected to the end portion in the left-right direction including the front end portion in the front-rear direction and is formed to extend in the left-right direction (X direction). The first portion 201a and the second portion 202a have the same height from the pedal tray 221 to the upper end. Further, as shown in FIGS. 3 and 4, the camera pedal 22c includes a fifth portion 201c formed to extend in the front-rear direction (Y direction) of the pedal tray 221, and a distal end portion (front-rear direction) of the fifth portion 201c. The sixth portion 202c is connected to the end portion on the left-right side including the front end portion of the front end portion of the sixth portion 202c and extends in the left-right direction (X direction). The fifth portion 201c and the sixth portion 202c have the same height from the pedal tray 221 to the upper end. As shown in FIG. 4, the coagulation pedal 22aR, the coagulation pedal 22aL, and the camera pedal 22c are formed into a substantially L-shape when viewed from above. As a result, the pedal is formed into a substantially L-shape such that the first portion 201a extending in the front-rear direction of the pedal, the second portion 202a connected to the fifth portion 201c, and the sixth portion 202c extend in the left-right direction (X direction). Therefore, it is possible to increase the size in the left-right direction of the portion of the pedal that extends in the front-rear direction and is operated by the foot. As a result, the operability for the operator can be further improved.

As shown in FIG. 6, the incision pedal 22bR and the incision pedal 22bL include a third portion 201b formed to extend in the front-rear direction (Y direction), and a distal end portion (front end in the front-rear direction) of the third portion 201b. and an upper end portion (an upper end portion in the vertical direction), and a fourth portion 202b formed to extend in the left-right direction (X direction) and connected to the end portion on the left-right direction side including the upper end portion (upper end portion in the vertical direction). The third portion 201b and the fourth portion 202b have the same height from the pedal tray 221 to the upper end. The lower end of the third portion 201b is at the same height as the upper surface of the pedal tray 221. The lower end of the fourth portion 202b is set higher than the upper surface of the pedal tray 221 and higher than the upper ends of the coagulation pedals 22aR and 22aL. Further, as shown in FIGS. 3 and 4, the clutch pedal 22d is connected to a seventh portion 201d formed to extend in the front-rear direction (Y direction) and an end portion of the seventh portion 201d on the left-right direction. and an eighth portion 202d formed to extend in the left-right direction (X direction). The seventh portion 201d and the eighth portion 202d have the same height from the pedal tray 221 to the upper end. The lower end of the seventh portion 201d is at the same height as the upper surface of the pedal tray 221. The lower end of the eighth portion 202d is set at a higher position than the upper surface of the pedal tray 221 and higher than the upper end of the camera pedal 22c. The incision pedal 22bR, the incision pedal 22bL, and the clutch pedal 22d are formed into a substantially L-shape when viewed from the front (as viewed in the Y2 direction). As a result, the pedal is formed into a substantially L-shape such that the third portion 201b extending in the front-rear direction, the fourth portion 202b connected to the seventh portion 201d, and the eighth portion 202d extend in the left-right direction (X direction). Therefore, it is possible to increase the size in the left-right direction of the portion of the pedal that extends in the front-rear direction and is operated by the foot. As a result, the operability for the operator can be further improved.

Further, in the first embodiment, as shown in FIG. 3, the height of the coagulation pedal 22aR and the coagulation pedal 22aL from the pedal tray 221 to the upper end is the first height H1. Further, as shown in FIG. 4, the coagulation pedal 22aR and the coagulation pedal 22aL have a first length L1 in the front-rear direction (Y direction). Further, in the coagulation pedal 22aR and the coagulation pedal 22aL, the length of the first portion 201a extending in the front-rear direction in the front-rear direction is a first length L1, and the width in the left-right direction (X direction) is a first width W1. Further, the length of the second portion 202a in the front-rear direction is a second length L2, which is smaller than the first length L1. Further, the combined width of the first portion 201a and the second portion 202a in the left-right direction is a second width W2 that is larger than the first width W1.

Moreover, as shown in FIG. 3, the height of the incision pedal 22bR and the incision pedal 22bL from the pedal tray 221 to the upper end is a second height H2 that is greater than the first height H1. In addition, the incision pedal 22bR and the incision pedal 22bL have the height of the upper end of the third portion 201b extending in the front-rear direction having a second height H2, and are connected to the end portion of the third portion in the left-right direction ( The height of the upper end of the fourth portion 202b extending in the X direction is a second height H2, and the height of the lower end of the fourth portion 202b is a third height greater than the first height H1 and smaller than the second height H2. It is H3. Moreover, as shown in FIG. 4, the incision pedal 22bR and the incision pedal 22bL have a third length L3 smaller than the first length L1 in the front-rear direction (Y direction). Further, in the incision pedal 22bR and the incision pedal 22bL, the length of the third portion 201b in the front-rear direction is a third length L3, and the width in the left-right direction is a third width W3. Further, the fourth portion 202b has a fourth length L4 smaller than the third length L3 in the front-rear direction. Further, the width in the left-right direction that is the sum of the third portion 201b and the fourth portion 202b is a fourth width W4 that is larger than the third width W3. Further, the first length L1 of the coagulation pedals 22aR and 22aL is longer than the sum of the second length L2 of the second portion 202a of the coagulation pedals 22aR and 22aL and the third length L3 of the incision pedals 22bR and 22bL. It has been set for a long time. As a result, the coagulation pedals 22aR, 22aL and the incision pedals 22bR, 22bL can be arranged in different positions in the front-rear direction (Y direction) and in the height direction (Z direction), so that the coagulation pedals 22aR, 22aL, It is possible to easily differentiate between the pedals 22aL and the incision pedals 22bR and 22bL. This also makes it possible to further improve the operability for the operator.

Further, as shown in FIG. 3, the height of the camera pedal 22c from the pedal tray 221 to the upper end is a fourth height H4. Further, as shown in FIG. 4, the camera pedal 22c has a fifth length L5 in the front-rear direction (Y direction). Further, in the camera pedal 22c, the length in the front-back direction of the fifth portion 201c extending in the front-back direction is a fifth length L5, and the width in the left-right direction (X direction) is a fifth width W5. Further, the length of the sixth portion 202c in the front-rear direction is a sixth length L6, which is smaller than the fifth length L5. Further, the combined width of the fifth portion 201c and the sixth portion 202c in the left-right direction (X direction) is a sixth width W6 that is larger than the fifth width W5.

Further, as shown in FIG. 3, the height of the clutch pedal 22d from the pedal tray 221 to the upper end is a fifth height H5, which is greater than the fourth height H4. Further, the clutch pedal 22d has a fifth height H5 at the upper end of the seventh portion 201d extending in the front-rear direction (Y direction), and is connected to the left-right end of the seventh portion 201d in the left-right direction. The height of the upper end of the eighth portion 202d extending in the X direction is the fifth height H5, and the height of the lower end of the eighth portion 202d is the sixth height H5, which is greater than the fourth height H4 and smaller than the fifth height H5. The height is H6. Moreover, as shown in FIG. 4, the clutch pedal 22d has a seventh length L7 that is smaller than the fifth length L5 in the front-rear direction (Y direction). Further, in the clutch pedal 22d, the length in the front-rear direction of the seventh portion 201d extending in the front-rear direction is a seventh length L7, and the width in the left-right direction (X direction) is a seventh width W7. Further, the eighth portion 202d has an eighth length L8 that is smaller than the seventh length L7 in the front-rear direction. Further, the combined width of the seventh portion 201d and the eighth portion 202d in the left-right direction is an eighth width W8, which is larger than the seventh width W7. Further, the fifth length L5 of the camera pedal 22c is set longer than the sum of the sixth length L6 of the sixth portion 202c of the camera pedal 22c and the seventh length L7 of the clutch pedal 22d.

As shown in FIG. 4, the pedal tray 221 has a first direction from the proximal end to the distal end in the front-rear direction (Y direction) of the coagulation pedal 22aR and the coagulation pedal 22aL, and a front-rear direction (Y direction) of the incision pedal 22bR and the incision pedal 22bL. The coagulation pedals 22aR, 22aL and the incision pedals 22bR, 22bL are arranged so that the second direction from the proximal end to the distal end in the direction) is substantially parallel to the second direction from the proximal end to the distal end. Thereby, the plurality of pedals can be arranged substantially in parallel, so that the plurality of pedals can be arranged compactly.

As shown in FIG. 4, the second width W2 of the coagulation pedals 22aR and 22aL is larger than the fourth width W4 of the dissection pedals 22bR and 22bL. As a result, it is possible to increase the size (width) in the left-right direction (X direction) of the coagulation pedals 22aR and 22aL, which are arranged below the incision pedals 22bR and 22bL. The coagulation pedals 22aR and 22aL located at can be easily operated.

As shown in FIG. 4, the second width W2 of the coagulation pedal 22aR and the coagulation pedal 22aL is the same as the first width W1 of the first portion 201a of the coagulation pedal 22aR and the coagulation pedal 22aL, and the third width W1 of the incision pedal 22bR and the incision pedal 22bL. It is larger than the combined length of the third width W3 of 201b. As a result, the horizontal size (width) of the coagulation pedals 22aR and 22aL, which are arranged below the incision pedals 22bR and 22bL, can be made larger, so that the coagulation pedals 22aR and 22aL, which are arranged below the incision pedals 22bR and 22bL, can be made larger. The coagulation pedals 22aR and 22aL can be operated more easily. Thereby, the operability for the operator can be further improved.

As shown in FIG. 4, in the pedal tray 221, the first portion 201a of the coagulation pedals 22aR and 22aL and the third portion 201b of the incision pedals 22bR and 22bL are arranged with a first interval D1 in the left-right direction (X direction). The fourth width W4 of the incision pedals 22bR and 22bL is larger than the sum of the third width W3 and the first distance D1 of the third portion 201b of the incision pedals 22bR and 22bL. Thereby, the coagulation pedals 22aR, 22aL and the incision pedals 22bR, 22bL can be arranged close to each other with the first distance D1 in between. Moreover, since the size (width) of the incision pedals 22bR and 22bL in the left-right direction can be increased, the incision pedals 22bR and 22bL can be easily operated.

As shown in FIG. 4, the lower ends of the fourth portions 202b of the dissection pedals 22bR and 22bL have a third height H3 that is greater than the first height H1 of the upper ends of the coagulation pedals 22aR and 22aL. Thereby, as shown in FIGS. 3 and 4, the fourth portion 202b of the incision pedals 22bR and 22bL can be arranged so as to overlap the first portion 201a of the coagulation pedals 22aR and 22aL in plan view. The coagulation pedals 22aR, 22aL and the incision pedals 22bR, 22bL can be arranged more compactly.

As shown in FIG. 4, in the pedal tray 221, the fifth portion 201c of the camera pedal 22c and the seventh portion 201d of the clutch pedal 22d are arranged with a second interval D2 in the left-right direction (X direction). Further, the sixth width W6 of the camera pedal 22c is larger than the sum of the fifth width W5 of the fifth portion 201c of the camera pedal 22c, the eighth width W8 of the clutch pedal 22d, and the second interval D2. As a result, the horizontal size (width) of the camera pedal 22c located below the clutch pedal 22d can be effectively increased, so that the camera pedal 22c located below the clutch pedal 22d can effectively increase the size (width) in the left and right direction. 22c can be operated more easily.

As shown in FIG. 7, the pedal tray 221 is connected to the bottom plate 221a where the coagulation pedals 22aR, 22aL and the incision pedals 22bR, 22bL are arranged, and to the rear (Y2 direction side) of the bottom plate 221a, and is used for the coagulation pedals 22aR, 22aL. a back plate 222 having a first opening 222a (see FIG. 3) for the cutting pedals 22bR, 22bL and a second opening 222b (see FIG. 3) for the cutting pedals 22bR, 22bL. Further, the tips of the second portions 202a of the coagulation pedals 22aR and 22aL are arranged on the front side (Y1 direction side) of the back plate 222 via the first opening 222a. Further, the proximal ends of the first portions 201a of the coagulation pedals 22aR and 22aL are arranged on the rear side (Y2 direction side) of the back plate 222 via the first opening 222a. Further, the tips of the third portions 201b of the incision pedals 22bR and 22bL are arranged on the front side (Y1 direction side) of the back plate 222 via the second opening 222b. Further, the base end of the third portion 201b is arranged on the rear side (Y2 direction side) of the back plate 222 via the second opening 222b. As a result, the fourth portion 202b of the incision pedals 22bR and 22bL, which are disposed rearward than the coagulation pedals 22aR and 22aL, is moved forward of the back plate 222 that is accessible to the operator. Since it can be placed on the side, the incision pedals 22bR and 22bL can be easily operated.

As shown in FIG. 8, the coagulation pedals 22aR and 22aL include a pedal body 232a having a first length L1, and a pedal support that rotatably supports the base end side of the pedal body 232a around a first rotation axis A1. 231a, and a biasing member 235a that biases the distal end side of the pedal body 232a upward. The biasing member 235a is, for example, a compression spring. Further, as shown in FIG. 3, the height of the upper end of the pedal body 232a supported by the pedal support portion 231a is a first height H1. The pedal body 232a includes a first portion 201a and a second portion 202a. Thereby, the pedal body 232a can be raised such that the upper end of the pedal body 232a reaches the first height H1 by the biasing force of the biasing member 235a.

As shown in FIG. 8, the coagulation pedals 22aR, 22aL include a non-contact proximity sensor 233a that detects when the pedal body 232a is moved downward and operated against the urging force of the urging member 235a. I'm here. Further, a pair of proximity sensors 233a are provided along the X direction. Further, the pair of proximity sensors 233a detect a change in magnetism caused by the proximity of the opposing iron members 234 due to the operation of the pedal body 232a. Moreover, when a change in magnetism is detected by both of the pair of proximity sensors 233a, it is detected that the pedal body 232a has been operated. Thereby, a failure of the proximity sensor 233a can be detected, and the accuracy of detection can be improved. Further, since the operation of the coagulation pedals 22aR and 22aL can be detected using a non-contact type sensor, the waterproof performance of the sensor can be improved compared to the case where a contact type sensor is used. Note that the proximity sensor 233a is an example of a "first non-contact sensor" in the claims.

Further, the coagulation pedals 22aR and 22aL include a stopper 236 that prevents the pedal body 232a from rising too high by a biasing member 235a. Further, in the coagulation pedals 22aR and 22aL, the lower limit position of the pedal body 232a when the pedal body 232a is depressed is set by the contact portion 237a of the pedal support portion 231a and the contact portion 237b of the pedal body 232a. . In other words, the contact portion 237a of the pedal support portion 231a and the contact portion 237b of the pedal body 232a come into contact with each other, thereby preventing the pedal body 232a from lowering further down. Further, the pedal body 232a has a stroke angle set to, for example, 1 to 3 degrees. Furthermore, the pedal body 232a has a stroke distance set to approximately 5 to 20 mm at the tip, for example.

Note that the camera pedal 22c also has the same internal structure as the coagulation pedals 22aR and 22aL.

As shown in FIG. 9, the incision pedals 22bR and 22bL include a pedal body 232b having a third length L3, and a pedal support that rotatably supports the base end side of the pedal body 232b around a second rotation axis A2. 231b, and a biasing member 235b that biases the distal end side of the pedal body 232b upward. The biasing member 235b is, for example, a compression spring. Further, as shown in FIG. 3, the height of the upper end of the pedal body 232b is the second height H2. The pedal body 232b includes a third portion 201b and a fourth portion 202b.

As shown in FIG. 9, the incision pedals 22bR and 22bL include a non-contact proximity sensor 233b that detects when the pedal body 232b is moved downward and operated against the urging force of the urging member 235b. I'm here. Further, a pair of proximity sensors 233b are provided along the X direction. Furthermore, the pair of proximity sensors 233b detects changes in magnetism caused by the proximity of the opposing iron members 234 due to the operation of the pedal body 232b. Moreover, when a change in magnetism is detected by both of the pair of proximity sensors 233b, it is detected that the pedal body 232b has been operated. Note that the proximity sensor 233b is an example of a "second non-contact sensor" in the claims.

Furthermore, the incision pedals 22bR and 22bL include a stopper 236 that prevents the pedal body 232b from rising too high by the biasing member 235b. Further, in the incision pedals 22bR and 22bL, the lower limit position of the pedal body 232b when the pedal body 232b is depressed is set by the contact portion 237a of the pedal support portion 231b and the contact portion 237b of the pedal body 232b. . In other words, the contact portion 237a of the pedal support portion 231b and the contact portion 237b of the pedal body 232b are brought into contact with each other, thereby preventing the pedal body 232b from lowering further down. Further, the pedal body 232b has a stroke angle set to, for example, 3 to 5 degrees. Further, the pedal body 232b has a stroke distance set to approximately 5 to 20 mm at the tip, for example.

Note that the clutch pedal 22d also has the same internal structure as the incision pedals 22bR and 22bL.

As shown in FIG. 10, the switching pedal 22e includes a pedal body 232c, a pedal support portion 231c that rotatably supports the base end side of the pedal body 232c around a third rotation axis A3, and a distal end of the pedal body 232c. It has a biasing member 235c that biases the side upward. The biasing member 235c is, for example, a compression spring.

The switching pedal 22e also includes a non-contact proximity sensor 233c that detects when the pedal body 232c is moved downward and operated against the urging force of the urging member 235c. Further, a pair of proximity sensors 233c are provided along the X direction. Further, the pair of proximity sensors 233c detect a change in magnetism caused by the opposing iron members 234 coming close to each other due to the operation of the pedal body 232c. Moreover, when a change in magnetism is detected by both of the pair of proximity sensors 233c, it is detected that the pedal body 232c has been operated.

Further, the switching pedal 22e includes a stopper 236 that prevents the pedal body 232c from rising too high by a biasing member 235c. Further, in the switching pedal 22e, the lower limit position of the pedal body 232c when the pedal body 232c is depressed is set by the contact portion 237a of the pedal support portion 231c and the contact portion 237b of the pedal body 232c. In other words, the contact portion 237a of the pedal support portion 231c and the contact portion 237b of the pedal body 232c come into contact with each other, thereby preventing the pedal body 232c from lowering further down. Further, the pedal body 232c has a stroke angle set to, for example, 3 to 5 degrees. Furthermore, the pedal body 232c has a stroke distance set to approximately 5 to 20 mm at the tip, for example.

The switching pedal 22e also includes an inclined support portion 238 that supports the pedal body 232c so as to incline downward toward the front. Specifically, the inclined support portion 238 is inclined forward at an inclination angle of about 25 degrees. A pedal support portion 231c is fixed to the inclined support portion 238.

[Second embodiment]
Next, a second embodiment of the present invention will be described with reference to FIGS. 11 to 13. In the second embodiment, an example of a configuration in which the switching pedal is arranged in a pedal tray will be described, unlike the first embodiment in which the switching pedal is arranged at an angle.

As shown in FIG. 11, the operating pedal device 22 is used in the remote operating device 2 of the surgical system 100. Further, the operating pedal device 22 is provided with a plurality of pedals to perform functions related to the medical instruments 4a, 4b, and 4c. The operation pedal device 22 includes a pedal tray 221 and pedals arranged on the pedal tray 221.

As shown in FIGS. 11 and 12, the operation pedal device 22 includes, from the right side (X2 side) to the left side (X1 side), a coagulation pedal 22aR, an incision pedal 22bR, a coagulation pedal 22aL, an incision pedal 22bL, A camera pedal 22c, a clutch pedal 22d, and a switching pedal 22e are arranged in this order.

Here, in the second embodiment, the coagulation pedal 22aR and the coagulation pedal 22aL include a first portion 201a formed to extend in the front-back direction (Y direction) of the pedal tray 221, and a left-right side of the first portion 201a. It includes a second portion 202a connected to the end portion and formed to extend in the left-right direction (X direction), and is formed in a substantially L-shape when viewed from above. The incision pedal 22bR and the incision pedal 22bL are connected to a third portion 201b formed to extend in the front-rear direction (Y direction) of the pedal tray 221, and an end portion of the third portion 201b on the left-right direction, and are connected to the left-right direction (Y direction). The fourth portion 202b is formed to extend in the X direction), and is formed into a substantially L-shape when viewed from the front. The camera pedal 22c is connected to a fifth portion 201c formed to extend in the front-rear direction (Y direction) of the pedal tray 221, and to the left-right end of the fifth portion 201c, and extends in the left-right direction (X direction). The sixth portion 202c is formed to extend, and is formed into a substantially L-shape when viewed from above. The clutch pedal 22d is connected to a seventh portion 201d formed to extend in the front-rear direction (Y direction) of the pedal tray 221, and to the left-right end of the seventh portion 201d, and extends in the left-right direction (X direction). The eighth portion 202d is formed to extend, and is formed into a substantially L-shape when viewed from the front.

Specifically, the coagulation pedal 22aR and the coagulation pedal 22aL are connected to a first portion 201a formed to extend in the front-rear direction (Y direction) of the pedal tray 221, and to the left-right end of the first portion 201a. and a second portion 202a formed to extend in the left-right direction (X direction). Further, the camera pedal 22c is connected to a fifth portion 201c formed to extend in the front-rear direction (Y direction) of the pedal tray 221, and an end portion on the left-right direction side of the fifth portion 201c, and is connected to the left-right direction (X direction). ). As shown in FIG. 12, the coagulation pedal 22aR, the coagulation pedal 22aL, and the camera pedal 22c are formed into a substantially L-shape when viewed from above.

As shown in FIG. 11, the incision pedal 22bR and the incision pedal 22bL are connected to a third portion 201b formed to extend in the front-rear direction (Y direction) and to the left-right end of the third portion 201b. and a fourth portion 202b formed to extend in the left-right direction (X direction). The clutch pedal 22d also includes a seventh portion 201d formed to extend in the front-rear direction (Y direction), and a seventh portion 201d connected to the left-right end of the seventh portion 201d so as to extend in the left-right direction (X direction). and an eighth portion 202d formed in. The incision pedal 22bR, the incision pedal 22bL, and the clutch pedal 22d are formed into a substantially L-shape when viewed from the front (as viewed in the Y2 direction).

As shown in FIG. 13, the switching pedal 22e is arranged within the pedal tray 221. The switching pedal 22e also includes a pedal body 232d, a pedal support portion 231d that rotatably supports the base end of the pedal body 232d around a fourth rotation axis A4, and a pedal support portion 231d that attaches the distal end of the pedal body 232d upward. It has a biasing member 235d that applies pressure. The biasing member 235d is, for example, a compression spring.

Furthermore, the switching pedal 22e includes a non-contact type proximity sensor 233d that detects that the pedal body 232d is moved downward and operated against the urging force of the urging member 235d. Moreover, a pair of proximity sensors 233d are provided along the X direction. Further, the pair of proximity sensors 233d detect a change in magnetism caused by the proximity of the opposing iron members 234 due to the operation of the pedal body 232d. Moreover, when a change in magnetism is detected by both of the pair of proximity sensors 233d, it is detected that the pedal body 232d has been operated.

Further, the switching pedal 22e is configured so that the contact portion 239 contacts the inner surface of the pedal tray 221, so that the biasing member 235d prevents the pedal body 232d from rising too much. Further, in the switching pedal 22e, the lower limit position of the pedal body 232d when the pedal body 232d is depressed is set by the contact portion 237a of the pedal support portion 231d and the contact portion 237b of the pedal body 232d. In other words, the contact portion 237a of the pedal support portion 231d and the contact portion 237b of the pedal body 232d come into contact with each other, thereby preventing the pedal body 232d from lowering further. Further, the pedal body 232d has a stroke angle set to, for example, 1 to 3 degrees. Further, the pedal body 232d has a stroke distance set to approximately 5 to 20 mm at the tip, for example.

Note that the other configurations of the second embodiment are the same as those of the first embodiment.

[Third embodiment]
Next, a third embodiment of the present invention will be described with reference to FIGS. 14 and 15. In the third embodiment, an example of a configuration in which the camera pedal and the clutch pedal are formed in a substantially I-shape will be described, unlike the first embodiment in which the camera pedal and the clutch pedal are formed in a substantially L-shape.

As shown in FIG. 14, the operating pedal device 22 is used in the remote operating device 2 of the surgical system 100. Further, the operating pedal device 22 is provided with a plurality of pedals to perform functions related to the medical instruments 4a, 4b, and 4c. The operation pedal device 22 includes a pedal tray 221 and pedals arranged on the pedal tray 221.

As shown in FIGS. 14 and 15, the operation pedal device 22 includes, from the right side (X2 side) to the left side (X1 side), a coagulation pedal 22aR, an incision pedal 22bR, a coagulation pedal 22aL, an incision pedal 22bL, A camera pedal 22c, a clutch pedal 22d, and a switching pedal 22e are arranged in this order.

Here, in the third embodiment, the coagulation pedal 22aR and the coagulation pedal 22aL include a first portion 201a formed to extend in the front-rear direction (Y direction) of the pedal tray 221, and a left-right side of the first portion 201a. It includes a second portion 202a connected to the end portion and formed to extend in the left-right direction (X direction), and is formed in a substantially L-shape when viewed from above. The incision pedal 22bR and the incision pedal 22bL are connected to a third portion 201b formed to extend in the front-rear direction (Y direction) of the pedal tray 221, and an end portion of the third portion 201b on the left-right direction, and are connected to the left-right direction (Y direction). The fourth portion 202b is formed to extend in the X direction), and is formed into a substantially L-shape when viewed from the front.

Specifically, the coagulation pedal 22aR and the coagulation pedal 22aL are connected to a first portion 201a formed to extend in the front-rear direction (Y direction) of the pedal tray 221, and to the left-right end of the first portion 201a. and a second portion 202a formed to extend in the left-right direction (X direction). As shown in FIG. 15, the coagulation pedal 22aR and the coagulation pedal 22aL are formed into a substantially L-shape when viewed from above.

As shown in FIG. 14, the incision pedal 22bR and the incision pedal 22bL are connected to a third portion 201b formed to extend in the front-rear direction (Y direction) and to the left-right end of the third portion 201b. and a fourth portion 202b formed to extend in the left-right direction (X direction). The incision pedal 22bR and the incision pedal 22bL are formed into a substantially L-shape when viewed from the front (as viewed in the Y2 direction).

Note that the other configurations of the third embodiment are the same as those of the first embodiment.

(Modified example)
Note that the embodiments disclosed this time should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is indicated by the claims rather than the description of the embodiments described above, and further includes all changes (modifications) within the meaning and range equivalent to the claims.

For example, in the first to third embodiments described above, the pedals of the operation pedal section include a coagulation pedal and an incision pedal, but the present invention is not limited to this. In the present invention, the pedals of the operating pedal section may include pedals for performing functions related to the medical device other than the coagulation pedal and the cutting pedal.

Further, in the first to third embodiments described above, an example of a configuration in which seven pedals are provided in the operating pedal section is shown, but the present invention is not limited to this. In the present invention, the operation pedal section may be provided with a plurality of pedals other than seven.

Further, in the first to third embodiments described above, the incision pedal 22bR and the incision pedal 22bL whose length is L4 in the fourth portion 202b, and the clutch pedal 22d whose length is L8 in the eighth portion 202d are provided. Although an example of a configuration has been shown, the present invention is not limited to this. In the present invention, the incision pedal 22bR and the incision pedal 22bL may be provided in which the length of the fourth portion 202b is L3, which is the same as that of the third portion 201b. Further, in the present invention, a clutch pedal 22d may be provided in which the length of the eighth portion 202d is L7, which is the same as the length of the seventh portion 201d.

Further, in the first to third embodiments, the operation pedal device is configured to include both a pedal formed in a substantially L-shape in a plan view and a pedal formed in a substantially L-shape in a front view. Although an example has been shown, the present invention is not limited thereto. In the present invention, the operation pedal device may be provided with either one of a pedal formed in a substantially L-shape in a plan view, and a pedal formed in a substantially L-shape in a front view.

Further, in the first to third embodiments described above, an example of a configuration is shown in which a proximity sensor that detects a change in magnetism is provided to detect that a pedal is operated, but the present invention is not limited to this. In the present invention, an optical sensor may be used as a non-contact sensor that detects that a pedal has been operated.

1: Medical manipulator, 2: Remote control device, 4a: Medical instrument (first medical instrument), 4b: Medical instrument (second medical instrument), 4c: Medical instrument (third medical instrument), 6: Endoscope , 21L: Operation handle (second operation handle), 21R: Operation handle (first operation handle), 22: Operation pedal device, 22aL: Coagulation pedal (first pedal, third pedal), 22aR: Coagulation pedal (first 22bL: Incision pedal (2nd pedal, 4th pedal), 22bR: Incision pedal (2nd pedal), 22c: Camera pedal (1st pedal, 5th pedal), 22d: Clutch pedal (2nd pedal, 6th pedal), 22e: Switching pedal (7th pedal), 24: Display unit, 60a: Robot arm (first manipulator), 60b: Robot arm (second manipulator), 60c: Robot arm (camera arm), 60d : robot arm (third manipulator), 100: surgical system, 201a: first part, 201b: third part, 201c: fifth part, 201d: seventh part, 202a: second part, 202b: fourth part, 202c: Sixth part, 202d: Eighth part, 221: Pedal tray, 221a: Bottom plate, 222: Back plate, 222a: Opening (first opening), 222b: Opening (second opening), 231a: Pedal support part ( 231b: Pedal support (second pedal support), 232a: Pedal body (first pedal body), 232b: Pedal body (second pedal body), 233a: Proximity sensor (first pedal contact sensor), 233b: proximity sensor (second non-contact sensor), 235a: biasing member (first biasing member), 235b: biasing member (second biasing member)

Claims (17)

An operation pedal device used for a remote control device of a surgical system,
pedal tray and
a first pedal arranged on the pedal tray and formed into a substantially L-shape in plan view ;
a second pedal arranged on the pedal tray and formed in a substantially L-shape when viewed from the front ;
The first pedal includes a first part formed to extend in the front-rear direction of the pedal tray, and a second part connected to the left-right end of the first part and formed to extend in the left-right direction. including a part;
The second pedal is connected to a third portion formed to extend in the front-rear direction of the pedal tray, and an end portion of the third portion in the left-right direction at a position higher than an upper end of the first pedal. and a fourth portion formed to extend in the left-right direction . The first pedal has a first height from the pedal tray to the upper end and a first length in the front-rear direction, and the first portion has the first height and the first length. , the width in the left-right direction is a first width, and the width in the left-right direction, which is the sum of the first part and the second part, is a second width larger than the first width,
The second pedal has a second height greater than the first height from the pedal tray to the upper end, a second length smaller than the first length in the front-rear direction, and the third portion has the second height and the second length, the width of the third portion in the left-right direction is the third width, and the width of the combined width of the third portion and the fourth portion in the left-right direction is The operating pedal device according to claim 1 , wherein the fourth width is larger than the third width. The pedal tray is configured such that a first direction from the proximal end to the distal end in the longitudinal direction of the first pedal and a second direction from the proximal end to the distal end in the longitudinal direction of the second pedal are substantially parallel to each other. The operation pedal device according to claim 2 , wherein the first pedal and the second pedal are arranged. The operation pedal device according to claim 2 or 3 , wherein the second width of the first pedal is larger than the fourth width of the second pedal. 5. The second width of the first pedal is greater than the sum of the first width of the first pedal and the third width of the second pedal. The operating pedal device described. In the pedal tray, the first portion of the first pedal and the third portion of the second pedal are arranged at a first interval in the left-right direction,
The operating pedal device according to any one of claims 2 to 5 , wherein the fourth width of the second pedal is larger than a length that combines the third width of the second pedal and the first interval. . The first pedal includes a first pedal body having the first length, a first pedal support portion that supports a proximal end side of the first pedal body so as to be rotatable about a first rotation axis, and a first pedal body that has the first length. a first biasing member that biases the distal end side of the first pedal body upward;
The height of the upper end of the first pedal body supported by the first pedal support part is the first height,
The first pedal body includes the first portion and the second portion,
The second pedal includes a second pedal body having the second length, a second pedal support portion that supports a proximal end side of the second pedal body so as to be rotatable about a second rotation axis, and a second pedal body that has the second length. a second biasing member that biases the tip side of the second pedal body upward;
The height of the upper end of the second pedal body is the second height,
The operation pedal device according to any one of claims 2 to 6 , wherein the second pedal body includes the third portion and the fourth portion. The first pedal includes a non-contact type first non-contact sensor that detects that the first pedal body is moved downward and operated against the biasing force of the first biasing member,
The second pedal includes a non-contact type second non-contact sensor that detects that the second pedal body is moved downward and operated against the biasing force of the second biasing member. The operating pedal device according to claim 7 . The pedal tray has a bottom plate on which the first pedal and the second pedal are arranged, and is connected to the rear of the bottom plate, and has a first opening for the first pedal and a second opening for the second pedal. including a backboard;
A distal end of the first portion of the first pedal is disposed forward of the back plate through the first opening, and a proximal end of the first portion of the first pedal is disposed through the first opening. is arranged on the rear side of the back plate,
A distal end of the third portion of the second pedal is disposed forward of the back plate through the second opening, and a base end of the third portion is disposed forward of the back plate through the second opening. The operation pedal device according to any one of claims 2 to 8 , which is arranged on the rear side. The operating pedal device according to any one of claims 2 to 9 , wherein the fourth portion of the second pedal has a third length smaller than the second length in the front-rear direction. The operating pedal device according to claim 2, wherein the fourth portion of the second pedal is arranged to overlap with the first portion of the first pedal in plan view. The first portion of the first pedal and the third portion of the second pedal are arranged at a second interval in the left-right direction,
The second width of the first pedal is greater than the sum of the first width of the first pedal, the fourth width of the second pedal, and the second interval. The operating pedal device according to any one of the items. A remote control device for remotely operating a patient-side system including a first manipulator that supports a first medical device, a second manipulator that supports a second medical device, and a camera arm that supports an endoscope. There it is,
a first operation handle for an operator to operate the first manipulator with his right hand;
a second operating handle for the operator to operate the second manipulator with his left hand;
a display unit that displays images from the endoscope;
A first pedal and a second pedal for respectively performing a first function and a second function regarding the first medical device; a third pedal for respectively performing a first function and a second function regarding the second medical device; and an operating pedal device including a fourth pedal and a pedal tray in which the first to fourth pedals are arranged ;
The first and third pedals are formed to extend in the left-right direction by being connected to a first portion of the pedal tray that is formed to extend in the front-rear direction, and to end portions on the left-right direction of the first portion. and a second portion having a substantially L-shape in plan view;
The second and fourth pedals include a third portion formed to extend in the front-rear direction of the pedal tray, and a left-right end of the third portion at a position higher than the upper end of the first pedal. and a fourth portion formed to be connected and extend in the left-right direction, and the remote control device is formed in a substantially L-shape when viewed from the front. The first and third pedals have a first height from the pedal tray to the upper end and a first length in the front-rear direction, and the first portion has a height between the first height and the first length. 1 length, a width in the left-right direction is a first width, and a width in the left-right direction including the first part and the second part is a second width larger than the first width,
The second and fourth pedals have a second height greater than the first height from the pedal tray to the upper end, and a second length smaller than the first length in the front-rear direction, and The third portion has the second height and the second length, has a third width in the left-right direction, and has a width in the left-right direction including the third portion and the fourth portion. The remote control device according to claim 13 , wherein the remote control device has a fourth width that is greater than three widths. The operation pedal device includes a fifth pedal for causing the first and second operation handles to perform a function related to the endoscope, an operation connection between the first operation handle and the first manipulator, and the second operation handle. and a sixth pedal for temporarily disconnecting the operation connection of the second manipulator,
The remote control device according to claim 13 or 14 , wherein the fifth pedal and the sixth pedal are formed in a substantially L-shape when viewed from above or from the front. The fifth pedal includes a fifth part formed to extend in the front-rear direction of the pedal tray, and a sixth part connected to the left-right end of the fifth part and formed to extend in the left-right direction. It is formed into a substantially L-shape in plan view,
The sixth pedal is connected to a seventh portion formed to extend in the front-rear direction of the pedal tray, and an end portion of the seventh portion in the left-right direction at a position higher than an upper end of the fifth pedal. The remote control device according to claim 15 , wherein the remote control device includes an eighth portion formed to extend in the left-right direction, and is formed in a substantially L-shape when viewed from the front. The patient-side system includes a third manipulator that supports a third medical device,
The operating pedal device switches an object that is operatively connected to the first operating handle between the first manipulator and the third manipulator, or switches an object that is operatively connected to the second operating handle between the second manipulator and the third manipulator. and a seventh pedal for switching between the third manipulator and the third manipulator;
The seventh pedal according to any one of claims 13 to 16 , wherein the seventh pedal includes a pedal body and an inclined support portion that supports the pedal body so as to tilt the pedal body downward in the forward direction. Remote control device.

Images