Medical system and control method

Abstract

A medical system includes an endoscope that captures an image including an object, a moving device that includes a robot arm and that moves the endoscope in a body, and a controller that controls the moving device on the basis of the position of the object. The controller is configured to control the moving device in a first control mode in which the endoscope is caused to follow the object at a first speed and a second control mode in which the endoscope is caused to follow the object at a second speed lower than the first speed. The controller controls the moving device in the first control mode when the object is located outside a predetermined three-dimensional region set in a field of view of the endoscope. The controller controls the moving device in the second control mode when the object is located in the predetermined three-dimensional region.

1 . A medical system comprising:
 an endoscope that captures an image including an object;   a moving device that comprises a robot arm and that moves the endoscope in a body; and   a controller that controls the moving device on a basis of a position of the object,   wherein the controller is configured to control the moving device in a first control mode in which the endoscope is caused to follow the object at a first speed and a second control mode in which the endoscope is caused to follow the object at a second speed lower than the first speed,   the controller controls the moving device in the first control mode when the object is located outside a predetermined three-dimensional region set in a field of view of the endoscope, and   the controller controls the moving device in the second control mode when the object is located in the predetermined three-dimensional region.   
     
     
         2 . The medical system according to  claim 1 , wherein the three-dimensional region orthogonal to an optical axis of the endoscope is shaped to decrease in size in cross section toward a tip of the endoscope. 
     
     
         3 . The medical system according to  claim 1 , wherein the endoscope is configured to capture a stereo image, and 
 the controller calculates a three-dimensional position of the object by using the stereo image.   
     
     
         4 . The medical system according to  claim 1 , wherein the object is a surgical instrument, and 
 the controller recognizes a type of the surgical instrument and   the controller changes at least one of a size and a shape of the three-dimensional region orthogonal to an optical axis of the endoscope in cross section according to the type of the surgical instrument.   
     
     
         5 . The medical system according to  claim 1 , wherein the controller controls the moving device in the first control mode and the second control mode so as to move the object toward a center of the image. 
     
     
         6 . The medical system according to  claim 1 , wherein the controller controls the moving device in the first control mode until the object enters the three-dimensional region. 
     
     
         7 . The medical system according to  claim 1 , wherein the controller recognizes a type of a procedure, and 
 the controller changes at least one of a size and a shape of the three-dimensional region according to the type of the procedure.   
     
     
         8 . The medical system according to  claim 1 , wherein the controller changes a size of the three-dimensional region orthogonal to an optical axis of the endoscope in cross section according to a viewing angle of the endoscope. 
     
     
         9 . A control method for controlling a movement of an endoscope on a basis of a position of an object, the endoscope capturing an image including the object, 
 the control method comprising: 
 controlling the movement of the endoscope in a first control mode in which the endoscope is caused to follow the object at a first speed, when the object is located outside a predetermined three-dimensional region set in a field of view of the endoscope; and 
 
 controlling the movement of the endoscope in a second control mode in which the endoscope is caused to follow the object at a second speed lower than the first speed, when the object is located in the predetermined three-dimensional region.