Operation support device

A surgical instrument for an operation support device which comprises a slave arm configured to support at least a distal end side of the surgical instrument, and a controller comprising one or more processors, the one or more processors configured to control a movement of the slave arm so as to assist an approach of the slave arm toward a distal end of the surgical instrument, the surgical instrument comprising:

• a manipulation section;
• an elongated section provided at a distal end side of the manipulation section;
• an end effector provided at the distal end side of the elongated section;
• and
• a marker disposed at the manipulation section;
• wherein the one or more processors are configured to:
• recognize a position or an orientation of the marker from an image of a camera of the operation support device;
• generate coordinate information from the position or the orientation of the marker;
• calculate a manipulation instruction based on the coordinate information;
• and
• control the slave arm based on the manipulation instruction.

An operation support device comprising:

• a surgical instrument comprising:
• a manipulation section;
• an elongated section provided at a distal end side of the manipulation section;
• a end effector provided at a distal end side of the elongated section;
• and
• a marker disposed at the manipulation section;
• a slave arm which includes a hollow section configured to receive both the elongated section and the end effector;
• a camera configured to photograph the marker;
• and
• a controller comprising one or more processors, the one or more processors configured to:
• recognize a position or an orientation of the marker from an image of the camera;
• generate a coordinate information from the position or the orientation of the marker;
• generate a manipulation instruction based on the coordinate information;
• and
• control the slave arm based on the manipulation instruction.

An operation support device comprising:

• a surgical instrument comprising:
• a manipulation section ;
• an elongated section provided at a distal end side of the manipulation section;
• and
• a end effector provided at a distal end side of the elongated section;
• a detected part;
• a marker disposed at the detected part;
• a slave arm which includes a hollow section configured to receive both the elongated section and the end effector;
• a camera configured to photograph the marker;
• and
• a controller comprising one or more processors, the one or more processors configured to:
• recognize a position or an orientation of the marker from an image of the camera;
• generate a coordinate information from the position or the orientation of the marker;
• generate a manipulation instruction based on the coordinate information;
• and
• control the slave arm based on the manipulation instruction.

An operation support device comprising:

• a surgical instrument comprising:
• a manipulation section;
• an elongated section provided at a distal end side of the manipulation section;
• and
• an end effector provided at a distal end side of the elongated section;
• a slave arm which includes a hollow section configured to receive both the elongated section and the end effector;
• an adapter configured to connect to the manipulation section;
• an articulated arm configured to connect to the manipulation section via the adapter;
• a sensor configured to detect a moving angle of each joint of the articulated arm;
• and
• a controller comprising one or more processors, the one or more processors configured to:
• generate a coordinate information of the manipulation section from the moving angle detected the sensor;
• calculate a manipulation instruction based on the coordinate information;
• and
• control the slave arm based on the manipulation instruction.