Medical support arm apparatus, medical system, and surgical microscope system

A medical system comprising:

• a medical support arm apparatus including
• an arm section including multiple joint sections, and configured such that an observation tool for observing a surgical site of a patient is provided on a front end,
• an actuator provided in at least one of the multiple joint sections and including a torque sensor that detects a torque acting on the at least one joint section, and
• a gravity compensation mechanism that includes a spring that imparts, to each joint section provided with the actuator, a compensating torque that compensates a load torque caused by a self-weight of the arm section acting on each joint section provided with the actuator, and
• control circuitry that is configured to control the actuator to operate on a basis of at least a state of the at least one joint section detected by the torque sensor, and controls a driving of the at least one joint section;
• and
• a display apparatus that displays an image captured by the observation tool of the medical support arm apparatus, wherein
• the control circuitry is configured to control gravity compensation by taking the compensating torque into account to cause the actuator to counteract the load torque, and
• the control circuitry is also configured to compute a generated torque as a control value for a whole body cooperative control of the arm section by generalized inverse dynamics using a state of the arm section acquired on a basis of multiple states of the at least one joint section provided with the actuator, a task performed by the arm section, and a constraint condition, and causes the actuator to operate on a basis of the computed generated torque for the at least one joint section provided with an actuator.

A surgical microscope system comprising:

• an arm section including multiple joint sections that include actuators;
• a microscope for imaging a surgical site of a patient, provided on a front end of the arm section such that an imaging direction is changeable by controlling the actuators;
• a gravity compensation mechanism that includes a spring that imparts to a compensated joint section, which is a target of gravity compensation among the multiple joint sections, a compensating torque in a direction that cancels out a load torque due to a self-weight of the arm section acting on the compensated joint section;
• a display apparatus that displays an image captured by the microscope;
• and
• control circuitry that at least controls a driving of the compensated joint section by causing the actuators to operate on a basis of at least a state of the compensated joint section detected by the torque sensor, wherein
• the control circuitry performs gravity compensation by taking the compensating torque into account to cause the actuators to generate a torque that counteracts the load torque for each of the multiple joint sections that include actuators, and
• the control circuitry is configured to compute a generated torque as a control value for a whole body cooperative control of the arm section by generalized inverse dynamics using a state of the arm section acquired on a basis of multiple states of the multiple joint sections, a task performed by the arm section, and a constraint condition, and causes the actuators to operate on a basis of the computed generated torque.