JPH0759788A - Snipping force feedback forceps device - Google Patents

Abstract

PURPOSE:To provide a snipping force to an operation part in order to positively feed back the snipping force applied to the tip part of a forceps to an operator and to operate a chelicera-shaped member on the basis of the provided snipping force. CONSTITUTION:The electrical output from a strain gauge 12 is transmitted to a snipping force display device 15 through the signal amplifier 18 and display device driving part of the strain gauge. In this snipping force feedback device, the snipping force is transmitted to a chelicera-shaped member 11 from the snipping force display device 15 through a fixed grasping part 14, a fixed grasping part support 13 and a main shaft 10. The snipping force state of the chelicera-shaped member 11 is detected by the strain gauge 12.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a scissor holding force feedback forceps device, and more particularly to a scissor holding force feedback forceps device capable of controlling a scissor holding force applied to a scissors jaw-like member at a tip of a forceps.

[0002]

2. Description of the Related Art Conventionally used forceps do not exist that positively feed back the force applied to the tip of the forceps, that is, the scissor holding force, to an operator. . Although there are industrially used ones for feeding back the forceps holding forceps and returning them to the operator, a large-scale stationary type is generally used, and the operator holds it in his hand and operates it. There was nothing that could do. In addition, such an industrial forceps device has not been made sterilizable as a medical treatment tool, and its tip has not been made insertable into the human body.

[0003]

As described above, in the conventional forceps, between the forceps scissors jaw and the operating portion is constituted only by the transmission member for mechanical movement, and the forceps scissors jaw is provided to the operator. It was impossible to positively return contact information and scissor force information. Therefore, there is a problem that a skill is required to hold or press the organs and tissues.

The present invention has been made in view of the above problems, and has a scissor holding force feedback function by positively returning the scissor holding force applied to the jaws of the forceps scissors to the operating portion, and has a medical treatment. It is an object of the present invention to provide a scissor force feedback forceps device having a function of attaching / detaching the tip of the forceps so that the forceps can be easily disinfected.

[0005]

That is, the present invention provides a pair of scissors jaw members which can be opened and closed, and a pair of scissors jaw members which are provided in the vicinity of the scissors jaw members. And means for detecting the scissoring force applied to the scissors, and based on the scissoring force detected by the detecting means, provide return information of the scissoring force so that the operator can return to operate the scissors jaw-shaped member. And a manipulating means for manipulating the scissors jaw-shaped member by the scissoring force provided by the returning scissoring force providing means.

[0006]

In the scissors holding force feedback forceps device of the present invention, the force applied to the scissors jaw-shaped member is detected by the detection means, and the scissors holding force of the scissors jaw-shaped member is fed back to the operator. The force display device displays the scissoring force. With this display of the scissors holding force, the operator appropriately operates the operating means with the necessary scissors holding force to operate the scissors jaw-like member which is the tip portion of the forceps.

[0007]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1A is an overall configuration diagram of a first embodiment of a scissor force feedback forceps device according to the present invention,
FIG. 1B is a block diagram of the control system shown in FIG.

In FIG. 1A, a pair of scissors-jaw-shaped members 11 are attached to one end of the main shaft 10 on one side. On one side surface of the scissors-shaped member 11, a strain gauge 12 that is small and lightweight and that does not prevent the movement of the scissors-shaped member 11 is attached.

A fixed gripper support 13 is attached to the other end of the main shaft 10, and a fixed gripper 14 is gripped by the fixed gripper support 13.
A scissor holding force display device 15 for displaying the magnitude of the force of the scissors jaw-like member 11 is provided on the fixed grip portion support 13 by, for example, a light emitting diode (LED). The scissoring force display device 15 is driven by the display device drive unit 16. The fixed grip portion support 13, the fixed grip portion 14, the scissor holding force display device 15, and the display device drive portion 16 constitute an operation portion 17 ₁ .

As shown in FIG. 1 (b), the control system displays the electric output from the strain gauge 12 through the strain gauge signal amplifier 18 and the display device driving unit 16 as a scissor force display. It is transmitted to the device 15. On the other hand, as the feedback of the scissors holding force, the scissors holding force display device 15 is used to
4, the scissors holding force is transmitted to the scissors upper jaw member 11 via the fixed grip portion indicator 13 and the main shaft 10. The strain gauge 12 is configured to detect the scissors holding force state of the scissors upper jaw member 11.

Next, the operation of the first embodiment will be described. The signal output from the strain gauge 12 due to the movement of the upper scissors member 11 is amplified by the signal amplifier 18,
It is output to the display device drive unit 16. Then, the scissoring force display device 15 displays how much scissoring force the operator operates the scissors upper jaw member 11. Here, when the operator moves the fixed grip portion 14, the fixed grip portion support 13
Is moved. Then, the scissors jaw-like member 11 is opened and closed in accordance with the movement of the main shaft 10 attached to the fixed gripper support 13.

Here, the scissors jaw-like member 1 is opened and closed.
When 1 grips an object or contacts the object, the scissors-shaped member 11 is deformed according to the reaction force from the object with respect to the opening / closing force of the scissors-jawed member 11 at that time. Then, the strain gauge 12 detects the deformed size,
Output as an electrical signal. This electrical signal is output again to the display device drive unit 16 via the signal amplifier 18. The display device drive unit 16 is an LE of the scissor force display device 15.
Flashing D causes the operator to display scissoring force information indicating how much force is being applied to the scissors jaw member 11.

In this way, the strain gauge 12 is attached to the scissors jaw member 11 at the tip of the forceps, and the operator can display the signal obtained from the strain gauge 12 by the scissors holding force display device 15. Because of the use of, the structure can be simplified and the weight can be reduced, and the operator can be informed of the force applied to the tip of the forceps.

Next, a second embodiment of the present invention will be described. FIG. 2A is an overall configuration diagram of the second embodiment, and FIG.
(B) is a block diagram of a control system. A pair of scissors-shaped members 11 are attached to one end of the main shaft 10 on one side, and a strain gauge 12 is provided on a side surface of the scissors-shaped members 11. Further, an air pressure control device 19 is provided at the other one end of the main shaft 10. The air pressure control device 19 includes a cylindrical container 20, a movable plate 21 that is movable and does not leak air in the cylindrical container 20, and a pump 22. In this pump 22, a movable grip portion 23 is connected to a side surface of the movable plate 21 opposite to the cylindrical container 20, and the movable plate 21 is inserted into the cylindrical container 20. Further, the cylindrical container 20 is connected to the fixed grip portion 24, and by moving the fixed grip portion 24, the scissors-jaw-shaped member 11 can be opened and closed. Operation part 1
7 ₂ is composed of the pneumatic control device 19 and the movable grip 23.

When the air is sent from the pump 22 to the cylindrical container 20, the movable plate 21 is pressed by the pressure, and as a result, the movable grip portion 23 is driven. Further, the movable plate 21 is similarly driven by sucking the air in the cylindrical container 20 from the pump 22.

Next, the operation of the control system at this time is shown in FIG.
This will be described with reference to (b). The signal output from the strain gauge 12 is amplified by the signal amplifier 18 to a value suitable for the function conversion unit 25. In the function conversion unit 25, the voltage obtained from the strain gauge 12 is converted by a function for matching the characteristic of the air pressure control device 19, and the air pressure control device 19 controls the suction of the pump 22.

The operator holds the fixed gripper 24 and the movable gripper 23 and moves the fixed gripper 24 to move the cylindrical container 20. Thereby, the scissors jaw-like member 11 is opened and closed according to the movement of the main shaft 10 attached to the cylindrical container 20. When the scissors jaw-shaped member 11 grips the object or contacts the object by the opening / closing operation, depending on the reaction force from the object to the opening / closing force of the scissors jaw-shaped member 11 at that time, the scissors-jaw shape Member 11
Is transformed. The deformed magnitude is detected by the strain gauge 12 and output to the signal amplifier 18 as an electrical signal.

The electric signal is processed and corrected by the function conversion section 25 so as to be adapted to the reaction force of the object, and is fed back in accordance with the human sense such as the Log function and the differential processing. The signal is processed for proper feedback, and the pneumatic controller 19 is fed back to operate. In the air pressure control device 19, the suction of the pump 22 is controlled according to the input signal, and the movable gripper 23 is controlled.
To operate. Therefore, when the pneumatic control device 19 is operated, force information is given to the operator through the movable grip portion 23 connected thereto.

In this way, the strain gauge 12 is attached so that the force applied to the scissors-jaw-shaped member 11 at the tip of the forceps can be detected, and the movable gripping portion 23 gripped by the operator by the signal obtained from the strain gauge 12 is pneumatically controlled. By making the structure so that the force can be driven by 19, the force applied to the tip of the forceps can be returned to the operator as torque information of the force without visually observing the force, and the pneumatic control device 19
Since the forceps device is used, the weight is reduced.

Next, a third embodiment of the present invention will be described. FIG. 3A is an overall configuration diagram of the third embodiment of the present invention. A pair of scissors-jaw-shaped members 11 is attached to one end of the main shaft 10 on one side, and a strain gauge 12 is provided on a side surface of the scissors-jaw-shaped member 11. A voice coil motor support 28 of a voice coil motor 27 is attached to the other end of the main shaft 10 on one side. The voice coil motor support 28 has a movable grip 23 that is interlocked by a voice coil motor drive 29, and a fixed grip 14 on the voice coil motor support 28. Here, by using the voice coil motor 27, control with high responsiveness and high accuracy is possible. still,
In this case, the voice coil motor 27, the voice coil motor support 28, the voice coil motor drive unit 29, the movable gripping unit 23, and the fixed gripping unit 14 form an operation unit 17 ₃ .

FIG. 3B is a block diagram of the control system at this time. The signal output from the strain gauge 12 is amplified by the signal amplifier 18 to a value suitable for the function conversion unit 25. The function conversion unit 25 performs voltage conversion by a function for matching the voltage obtained from the strain gauge 12 with the characteristics of the voice coil motor drive unit 29, and outputs a signal to the output amplification unit 30. The output amplifier 30 performs output amplification for driving the voice coil motor 27.

The operator holds the fixed gripper 14 and the movable gripper 2
By gripping 3 and moving the fixed grip 14, the voice coil motor support 28 is moved. Then, the scissors jaw member 11 is opened and closed according to the movement of the main shaft 10 attached to the voice coil motor support 28. When the scissors-jaw member 11 grips or contacts the object by the opening / closing operation, the scissors-jaw member is formed according to the reaction force from the object with respect to the opening / closing force of the scissors-jaw member 11 at that time. 11 is deformed, and the deformed size is detected by the strain gauge 12 and output as an electrical signal.

Then, this electrical signal is converted into the function conversion section 25.
The signal is processed and corrected so as to match the reaction force of the object, and the signal is processed so as to be an appropriate feedback like the feedback according to the human sense such as the Log function and the differential processing, and the voice is processed. The coil motor drive unit 29 is fed back and operated. Voice coil motor 27
Outputs a torque amount of scissoring force according to an input signal. Therefore, when the voice coil motor driving unit 29 is operated, the torque information of the scissoring force is transmitted to the operator through the movable gripping unit 23 connected thereto.

In this way, the strain gauge 12 is attached so that the force applied to the scissors-jaw-shaped member 11 at the tip of the forceps can be detected, and the movable gripping portion 23 gripped by the operator by the signal obtained from the strain gauge 12 is attached to the voice coil motor. By providing a configuration in which feedback is performed so that it can be driven by the drive unit 29,
It is possible to return to the operator as torque information of the scissoring force without visually observing the scissoring force applied to the forceps tip portion.

Next explained is the fourth embodiment of the invention. FIG. 4A shows the overall structure of the fourth embodiment. In the figure, a displacement gauge 31 is attached in the middle of the main shaft 10. A pair of scissors-shaped members 11 is attached to one end of the main shaft 10, and a strain gauge 12 is provided on a side surface of the scissors-shaped members 11. The voice coil motor 2 is attached to the other end of the main shaft 10 on one side.
A voice coil motor support 28 that supports 7 is attached. With these voice coil motors 27 and the voice coil motor support 28, the operation unit 17 _3, and the movable gripping part 23 and the voice coil motor support 28 in conjunction with a voice coil motor driving portion 29, the fixed gripping portion 1
Have four.

By the way, it is preferable that the displacement gauge 31 is made of a small and lightweight one and is attached integrally with the main shaft 10. Fig. 4 is a block diagram of the control system at this time.
It shows in (b).

The signals output from the strain gauge 12 and the displacement gauge 31 are amplified by the signal amplifier 18 to values suitable for the function conversion section 25. The function conversion unit 25 performs voltage conversion by a function for matching the voltage obtained from the strain gauge 12 and the displacement gauge 31 with the characteristics of the voice coil motor drive unit 29, and outputs a signal to the output amplifier 30. It The output amplification section 30 performs output amplification for driving the voice coil motor 27.

The operator holds the fixed gripper 14 and the movable gripper 2
By gripping 3 and moving the fixed grip 14, the voice coil motor support 28 is moved. Then, the scissors-shaped member 11 is opened and closed according to the movement of the main shaft 10 attached to the voice coil motor support 28.
When the scissors-jaw member 11 grips the object or contacts the object by the opening / closing operation, the scissors-jaw member according to the reaction force from the object with respect to the opening / closing force of the scissors-jaw member 11 at that time. 11 is deformed. Then, the size of the deformed scissors-shaped member 11 is detected by the strain gauge 12 and output as an electrical signal. Further, the displacement amount of the spindle 10 at this time is output from the displacement gauge 31 as an electric signal.

Here, since the movement amount of opening and closing of the scissors jaw-shaped member 11 has a one-to-one correspondence with the movement amount of the main spindle 10, by measuring the movement amount of the main spindle 10 with the displacement gauge 31, the scissors-jaw shape is obtained. The amount of opening / closing movement of the member 11 can be measured. The hardness of the object when the scissors-shaped member 11 grips or contacts the object is detected by the relationship between the movement amount of the scissors-shaped member 11 and the strain amount of the scissors-shaped member 11 at that time. It will be possible. Therefore, by measuring the amount of displacement of the displacement gauge 31 from the time when the strain gauge 12 detects some force at the same time as the amount of strain of the strain gauge 12, the hardness of the object can be detected.

The function converter 25 performs processing correction of these electric signals so as to match the hardness and softness of the object, and the signals are processed so as to be appropriately fed back. The voice coil motor driver 29 Return to and operate.
By operating the voice coil motor drive unit 29,
The operator is provided with the force information of the hardness of the object through the movable grip 23 connected thereto.

In this way, the strain gauge 12 is attached to the scissors-jaw member 11 so that the force applied to the scissors-jaw member 11 at the tip of the forceps can be detected, and the displacement gauge can be used to measure the displacement amount of the main shaft 10. The force applied to the tip portion of the forceps and the object are configured by having a configuration in which the movable gripping portion 23 having an operator 31 is driven by the voice coil motor driving portion 29 by the signal obtained therefrom. It is possible to return the hardness of the item to the operator.

FIG. 5A is an overall configuration diagram for explaining the fifth embodiment of the present invention. In the forceps mechanism portion 32 ₁ , a pair of scissor-jaw-shaped members 11 having a strain gauge 12 on its side surface is attached to one end portion on one side of the main shaft 10. A voice coil motor 27a is provided at the other end of the main shaft 10.

On the other hand, in the operation portion 33 ₁ , a strain gauge 35 is attached to the operation grip portion 34. Furthermore,
The operation unit 33 ₁ has a movable holding part 23 for interlocked by a voice coil motor 27b and the voice coil motor 27b.

The forceps mechanism section 32 ₁ and the operation section 33 are also provided.
_The units ₁ and 2 are not coupled by a mechanical mechanism, and are connected to each other via an electric signal via the controller unit 36.
The electrical control block diagram at this time is shown in FIG.

The signal output from the strain gauge 12 of the forceps mechanism unit 32 ₁ is amplified and converted by the control unit 36 so as to be suitable for driving the voice coil motor 27b of the operation unit 33 ₁ , and the voice coil motor 27b. Signal is output to. Similarly, the signal of the strain gauge 35 in the operation unit 33 ₁ is sent to the forceps mechanism unit 3 by the control unit 36.
It is amplified and converted so as to be suitable for driving the 2 ₁ voice coil motor 27a and output to the voice coil motor 27a.

Here, it is assumed that the operator grips the operation grip portion 34 and the movable grip portion 23 and applies a force to the operation grip portion 34. Then, the operation grip portion 34 bends, and an electrical signal corresponding to the force is output from the strain gauge 35. The control unit 36 receives this signal and drives the voice coil motor 27a. The voice coil motor 27a outputs a torque amount corresponding to the input signal. Therefore, according to the electrical output of the strain gauge 35, the voice coil motor 27
When a is operated, the main shaft 10 connected to it
Is operated, and the scissors jaw-like member 11 is opened and closed according to the force corresponding to the torque amount.

When the scissors-jaw member 11 grips or contacts the object by the opening / closing operation of the scissors-jaw member 11, the reaction force from the object with respect to the opening / closing force of the scissors-jaw member 11 at that time. The scissors-shaped member 11 is deformed accordingly. Then, the deformed size is detected by the strain gauge 12 and output as an electrical signal. This electrical signal
The controller 36 corrects the signal processing so as to match the reaction force of the object. Then, the signal is processed so as to be appropriately fed back, and the voice coil motor 27b is fed back to operate. The voice coil motor 27b is operated according to the input signal,
Force information is given to the operator through the movable grip portion 23 connected thereto.

In this way, the forceps mechanism section 32 ₁ and the operation section 3
3 ₁ is mechanically cut off and connected by the control device unit 36 by electric signals of each other, and a force is applied to the operation gripping unit 34 to drive the voice coil motor 27a by the signal output from the strain gauge 35 and scissors. Open and close the jaw member 11,
In addition, the movable gripping portion 23 gripped by the operator is configured to perform feedback by a signal obtained from the strain gauge 12 so that the voice coil motor 27b can drive the movable gripping portion 23, so that the forceps tip portion is generated by a force according to the force applied by the operator. It is possible to return the force corresponding to the force of the torque applied to the operator as information without being controlled by the mechanical mechanism to the operator. Since the strain gauge 35 is used on the side of the operation unit 33 ₁ ,
It is possible to reduce the size and weight.

Next explained is the sixth embodiment of the invention. FIG. 6A is a diagram showing the overall configuration of the sixth embodiment. In the forceps mechanism portion 32 ₁ , a pair of scissor-jaw-shaped members 11 having a strain gauge 12 on its side surface is attached to one end portion on one side of the main shaft 10. A voice coil motor 27a is provided at the other end of the main shaft 10.

On the other hand, the operation unit 33 _2, sensitive piezoelectric conductive rubber 3
It has an operating grip 34 to which 7 is attached.
Also, the operation unit 33 _2, the voice coil motor 27
b has a movable gripping part 23 attached thereto and interlocked by a voice coil motor 27b.

The forceps mechanism section 32 ₁ and the operation section 33 ₂ are
They are not connected by a mechanical mechanism, but are connected to each other via the control device unit 36 by an electric signal. The electrical control block diagram at this time is shown in FIG.

The signal output from the strain gauge 12 of the forceps mechanism section 32 ₁ is amplified and converted by the control section 36 so as to be suitable for driving the voice coil motor 27b of the operation section 33 ₂ , and the voice coil motor 27b. Is output to. Similarly, signals of sensing piezoelectric conductive rubber 37 of the operation unit 33 _2, amplified and converted to conform to drive the voice coil motor 27a of the forceps mechanism 32 ₁ is performed by the controller unit 36, a voice coil motor 27a Is output to.

When the operator grips the operation grip portion 34 and the movable grip portion 23 and moves the operation grip portion 34, an electric signal corresponding to the operation is output from the piezoelectric conductive rubber 37. The control unit 36 receives this signal and drives the voice coil motor 27a. The voice coil motor 27a outputs a torque amount corresponding to the input signal. Therefore, by operating the voice coil motor 27a according to the electrical output of the piezoelectric conductive rubber 37, the main shaft 10 connected thereto is operated, and the scissors-jaw-shaped member 11 is opened and closed according to the force corresponding to the torque amount. Done.

When the scissors-jaw-shaped member 11 grips the object or contacts the object by the opening / closing operation of the scissors-jaw-shaped member 11, the opening / closing force of the scissors-jaw-shaped member 11 at that time is reflected from the object. The scissors-shaped member 11 is deformed according to the force.
The deformed size is detected by the strain gauge 12 and output as an electrical signal. This electrical signal
The controller 36 corrects and corrects the signal so as to match the reaction force of the object. That is, the signal is processed so as to be appropriately returned, and the voice coil motor 27
Feedback is performed on b and it is operated. The voice coil motor 27b operates according to the input signal,
Force information is given to the operator through the movable grip portion 23 connected thereto.

Thus, the forceps mechanism section 32 ₁ and the operation section 3
3 ₂ is mechanically cut off, connected by the control device section 36 by electric signals of each other, and the operation gripping section 34 is moved to drive the voice coil motor 27a by the signal output from the piezoelectric sensitive rubber 37. The scissors jaw member 11 is opened and closed by a lever, and the movable grip portion 34 held by the operator is fed back so that the voice coil motor 27b can drive the movable grip portion 34 by a signal obtained from the strain gauge 12. The force corresponding to the amount of torque applied to the section can be returned to the operator as information without being restricted by the mechanical mechanism. Further, since the piezoelectric sensitive rubber 37 is used, it is small and lightweight, and it is possible not to be affected by the member of the operation grip portion 34.

Next explained is the seventh embodiment of the invention. FIG. 7A shows the overall structure of the seventh embodiment. In the forceps mechanism section 32 ₂ , a pair of scissors-shaped members 11 having a strain gauge 12 on the side surface is attached to one end portion on one side of the main shaft 10. An air pressure control device 19 is provided at the other end of the main shaft 10.

The air driving device 19 is composed of a cylindrical container 20.
And a movable plate 21 that is movable and does not leak air from the cylindrical container 20, and a pump 22. The side surface of the movable plate 21 opposite to the cylindrical container 20 is connected to the main shaft 10, and the movable plate 21 is inserted into the cylindrical container 20. Then, the air is sent from the pump 22 to the cylindrical container 20, whereby the movable plate 21 is pressed by the pressure, and as a result, the main shaft 10 is driven. Also, pump 2
By sucking the air in the cylindrical container 20 from 2,
Similarly, the movable plate 21 is driven.

Meanwhile, the operation unit 33 ₁ has an operating grip portion 34, and strain gauges 35 are attached to the operation grip part 34. Further, this operation unit 33 _1, the voice coil motor 27b has been attached only taken has a movable holding part 23 for interlocked by a voice coil motor 27b.

Furthermore, the forceps mechanism section 32 ₂ and the operation section 33 ₁ are not connected by a mechanical mechanism, and each is connected to the control device section 36 by an electric signal. An electrical control block diagram at this time is shown in FIG.

The signal output from the strain gauge 12 of the forceps mechanism section 32 ₂ is amplified and converted by the control section 36 so as to be suitable for driving the voice coil motor 27b of the operation section 33 ₁ , and the voice coil motor It is output to 27b. Similarly, the signal from the strain gauge 35 of the operation unit 33 ₂ is amplified and converted by the control device unit 36 so as to be suitable for driving the pneumatic pressure control device 19 of the forceps mechanism unit 32 ₂ , and is output to the pneumatic pressure control device 19. To be done.

The operator operates the operation grip portion 34 and the movable grip portion 2
By gripping 3 and moving the operation grip portion 34, an electrical signal corresponding to the operation is output from the strain gauge 35. When the control device section 36 receives this signal and drives the air pressure control device 19, air is sent from the pump 22 into the cylindrical container 20. Then, the movable plate 21 is operated to operate the main shaft 10, and the scissors jaw-like member 11 is opened and closed according to the movement.

When the scissors-jaw member 11 grips or contacts the object by the opening / closing operation, depending on the reaction force from the object to the opening / closing force of the scissors-jaw member 11 at that time, the scissors-jaw shape is obtained. The member 11 is deformed. The deformed size is detected by the strain gauge 12 and output as an electric signal. This electric signal is processed and corrected by the control device section 36 so as to match the reaction force of the object, processed so as to be appropriately returned, and is returned to the voice coil motor 27b. Make it work. The voice coil motor 27b operates according to an input signal to give force information to the operator through the movable grip portion 23 connected to the voice coil motor 27b.

In this way, the forceps mechanism section 32 ₂ and the operating section 3
3 ₁ is mechanically cut off, connected by the control device unit 36 by electric signals of each other, and the operation gripping unit 34 is moved, thereby driving the pneumatic pressure control device 19 with the signal output from the strain gauge 35 and the scissors. The jaw-shaped member 11 is opened and closed, and the movable grip portion 34, which is gripped by the operator by the signal obtained from the strain gauge 12, is attached to the voice coil motor 27b.
Since the pneumatic pressure control device 19 is used, the forceps mechanism 3
2 ₂ is lighter than using a voice coil motor on the side of the scissors-shaped member 11, and the force applied to the tip of the forceps can be returned to the operator as information without being restricted by the mechanical mechanism. And

FIG. 8A is an overall configuration diagram showing an eighth embodiment of the present invention. In the figure, the forceps mechanism section 32
₁ , a scissors-jaw-shaped member 11 is attached to one end of the main shaft 10 on one side, the scissors-shaped member 11 having a strain gauge 12 on a side surface. A voice coil motor 27a is provided at the other end of the main shaft 10.

On the other hand, in the operation portion 33 ₃ , a displacement gauge 38 is attached to the operation grip portion 34. Further, this operation unit 33 _3, voice coil motor 27b is attached, has a movable holding part 23 for interlocked by the voice coil motor 27b.

The forceps mechanism section 32 ₁ and the operation section 33 ₃ are
They are not connected by a mechanical mechanism, but are connected to each other via the control device unit 36 by an electric signal. The electrical control configuration at this time is shown in FIG.

The signal output from the strain gauge 12 of the forceps mechanism unit 32 ₁ is amplified and converted by the control unit 36 so as to be suitable for driving the voice coil motor 27b of the operation unit 33 ₃ , and the voice coil motor It is output to 27b. Similarly, the signal from the displacement meter 38 in the operation unit 33 ₃ is amplified and converted by the control device unit 36 so as to be suitable for driving the voice coil motor 27a of the forceps mechanism unit 32 ₁ , and then sent to the voice coil motor 27a. Is output.

Then, the operator grips the operation grip portion 34 and the movable grip portion 23 and moves the operation grip portion 34, whereby an electric signal corresponding to the movement amount is output from the displacement meter 38. The control unit 36 receives this signal and drives the voice coil motor 27a. The voice coil motor 27a outputs a force having a torque amount according to the input signal. Therefore, by operating the voice coil motor 27a according to the electric output of the displacement meter 38, the main shaft 10 connected thereto is operated, and the scissors-jaw-shaped member 11 is opened and closed according to the force corresponding to the torque amount. .

When the scissors-jaw-shaped member 11 grips the object or contacts the object by the opening / closing operation, the scissors-jaw-shaped member 11 is formed according to the reaction force from the object with respect to the opening / closing force of the scissors-jaw-shaped member 11 at that time. The member 11 is deformed. Then, the deformed size is detected by the strain gauge 12 and output as an electrical signal. This electric signal is processed and corrected by the control unit 36 so as to match the reaction force of the object. That is, the signal is processed so that the feedback is appropriately performed, and the voice coil motor 27b is caused to perform the feedback operation. The voice coil motor 27b operates in response to an input signal to give force information to the operator through the movable grip portion 23 connected to the voice coil motor 27b.

In this way, the forceps mechanism section 32 ₁ and the operation section 33 ₃ are mechanically cut off, connected by the control section 36 by the electric signals of each other, and the operation gripping section 34 is moved to move the displacement. The voice coil motor 27a is driven by signals output from the total 38, and the scissors-shaped member 11
And the strain gauge 12 is attached and the movable gripper 23 is gripped by the operator by the signal obtained from the strain gauge 12.
Is configured to perform feedback so that it can be driven by the voice coil motor 27b, it is possible to give an operation status signal to the forceps mechanism section without being affected by the force of the voice coil motor 27b on the operation section side. .

Next explained is the ninth embodiment of the invention. FIG. 9A shows the overall configuration of the ninth embodiment. In the forceps mechanism section 32 ₃ , a displacement gauge 31 is attached in the middle of the main shaft 10. A scissors-jaw-shaped member 11 having a pair of side faces and a strain gauge 12 is attached to one end of the main shaft 10 on one side. A voice coil motor 27a is provided at the other end of the main shaft 10.

[0062] In contrast, in the operation unit 33 _4, the displacement meter 38 and the strain gauge 35 on the operation grip part 34 is attached. Further, the operation unit 33 _4, a voice coil motor 27
b is attached to this voice coil motor 27
The operation grip portion 34 is interlocked with b.

The forceps mechanism section 32 ₃ and the operation section 33 ₄ are not coupled by a mechanical mechanism, but are connected to each other via an electric signal via the control section 36. The electrical control configuration at this time is shown in FIG.

In FIG. 9B, the signals output from the displacement gauge 31 and the strain gauge 12 of the forceps mechanism section 32 ₃ are suitable for driving the voice coil motor 27 b of the operation section 33 ₄ by the control section 36. Is amplified and converted to
It is output to the voice coil motor 27b. Similarly,
The signals of the displacement gauge 38 and the strain gauge 35 in the operation unit 33 ₄ are amplified and converted by the control device unit 36 so as to be suitable for driving the voice coil motor 27a of the forceps mechanism unit 32 ₃ , and the voice coil motor 27a. Is output to.

When the operator grips the operation grip portion 34 and moves the operation grip portion 34, an electric signal corresponding to the amount of movement is output from the displacement meter 38. Further, by applying a force to the operation grip portion 34, an electrical signal corresponding to the force is output from the strain gauge 12. The control device section 36 receives these signals and drives the voice coil motor 27a of the forceps mechanism section 32 ₃ . Voice coil motor 27a
Outputs a force having a torque amount according to the input signal. Then, by operating the voice coil motor 27a, the main shaft 10 connected to the voice coil motor 27a is operated, and the scissors-jaw-shaped member 11 is opened / closed according to the force corresponding to the torque amount.

By this opening / closing operation, when the scissors-jaw-shaped member 11 grips or contacts the object, depending on the reaction force from the object with respect to the opening / closing force of the scissors-jaw-shaped member 11 at that time, The scissors-shaped member 11 is deformed. Then, the deformation amount is detected by the strain gauge 12 and output as an electric signal. The amount of movement of the spindle 10 at this time is output as an electrical signal from the displacement meter 31.

Since the moving amount of the scissors-jaw-shaped member 11 has a one-to-one correspondence with the moving amount of the main shaft 10, the opening / closing of the scissors-jaw-shaped member 11 is measured by measuring the moving amount of the main shaft 10. It is possible to measure the movement amount of. Scissors-shaped member 11
Since it becomes possible to detect the hardness of the object by the relationship between the amount of movement of the object and the amount of strain at that time, the strain gauge 12 and the displacement meter 3
By simultaneously measuring the displacement amount of 1, the hardness of the object can be detected.

These electric signals are processed and corrected by the control unit 36 so as to match the reaction force and hardness of the object. That is, the signal is processed so as to be appropriately fed back, and the voice coil motor 27b is fed back as a torque amount to operate, and force information is given to the operator through the operation grip portion 34 connected thereto.

In this way, the sensor and the actuator mechanically separate the forceps mechanism section 32 ₃ and the operation section 33 ₄ having the same structure, and the two are connected by the control device section 36 by an electric signal from each other. With this configuration, a force having a torque amount corresponding to the movement amount and the force of the operation grip portion 34 is generated in the forceps tip portion without being restricted by the mechanical mechanism of the operator, and the reaction force generated in the forceps tip portion is generated. It is possible to return the force of the torque amount corresponding to the information of hardness and softness to the operator as information without being restricted by the mechanical mechanism. As a result, it is possible to return precise and stable control to the operator through the operation unit, with high emphasis expression over the mechanical mechanism and high reproduction degree.

Next explained is the tenth embodiment of the invention. FIG. 10A shows the overall configuration of the tenth embodiment. In the figure, the forceps mechanism section 32
_{In 3} , the displacement gauge 31 is attached in the middle of the spindle 10. A scissors-shaped member 11 that is paired and has a strain gauge 12 on its side surface is attached to one end portion on one side of the main shaft 10. Further, a forceps side mechanical operation coupling member 39 is provided in the middle of the other side of the main shaft 10, and a voice coil motor 27a is provided at the end.

[0071] On the other hand, in the operation unit 33 _5, the operation grip part 34 has a displacement gauge 38 and the strain gauge 35. This operation unit 33 _5, a voice coil motor 27b is attached, interlocked operation gripping section 34 by the voice coil motor 27b. Further, a solenoid 40 is attached to the operation grip portion 34, and an operation portion side mechanical operation coupling member 41 driven by the solenoid 40 is attached so as to face the mechanical operation coupling member 39 of the forceps mechanism portion 32 _3. To be

The forceps mechanism section 32 ₃ , the operating section 33 ₅ , and the solenoid 40 are electrically connected by the control section 36. FIG. 10B is an electrical control configuration diagram at this time.

In the same figure, the signals output from the displacement gauge 31 and the strain gauge 12 of the forceps mechanism section 32 ₃ are controlled by the control section 36 to the voice coil motor 27b of the operation section 33 _5.
Amplification and conversion are performed so as to be suitable for the driving of, and output to the voice coil motor 27b. Similarly, the operation unit 33
The signals of the displacement gauge 38 and the strain gauge 35 in ₅ are amplified and converted by the control unit 36 so as to be suitable for driving the voice coil motor 27a of the forceps mechanism unit 32 ₃ , and output to the voice coil motor 27a. It The output signal from the strain gauge 12 of the forceps mechanism section 32 ₃ is compared with a predetermined reference value in the contact detection section 42. As a result of this comparison, the solenoid 40 is driven.

By the way, when the scissors-shaped member 11 is not in contact with the object, the strain gauge 12 of the forceps mechanism section 32 ₃ outputs the signal value of the base value. This signal value is compared with the reference value by the contact detection unit 42, and as a result, the solenoid 40 is driven. By driving the solenoid 40, the forceps-side mechanical movement coupling member 39 and the operating portion-side mechanical movement coupling member 41 are mechanically coupled. As a result, by moving the operation grip portion 34, the main shaft 10 is moved to open / close the scissors-shaped member 11, and the same operation as a forceps having a conventional mechanical structure can be performed.

On the other hand, when the scissors-shaped member 11 holds the object or is in contact with the object, the strain gauge 12 of the forceps mechanism section 32 ₃ outputs a signal value different from the base value. To be done. Then, the signal value is the contact detection unit 42.
Is compared with a reference value, and as a result, the solenoid 40 is driven. By driving the solenoid 40,
The forceps side mechanical movement coupling member 39 and the operation portion mechanical movement coupling member 41 are mechanically cut off.

At this time, when the operator grips and moves the operation grip portion 34, an electric signal corresponding to the amount of movement is output from the displacement meter 38. In addition, the operation grip 3
When a force is applied to 4, the strain gauge 12 outputs an electric signal corresponding to the force. In the control device section 36,
Upon receiving these signals, the voice coil motor 27a of the forceps mechanism section 32 ₂ is driven. Voice coil motor 27a
Outputs a force having a torque amount according to the input signal. When the voice coil motor 27a is operated, the main shaft 10 connected to the voice coil motor 27a is moved, and the scissors-jaw-shaped member 11 is opened / closed according to the force corresponding to the torque amount.

Here, the scissors jaw-like member 11 is opened and closed.
When the object grips the object or comes into contact with the object, the scissors-shaped member 11 is deformed according to the reaction force from the object against the opening / closing force of the scissors-shaped member 11 at that time. The amount of deformation is detected by the strain gauge 12 and output as an electrical signal. Further, the amount of movement of the spindle 10 at this time is output from the displacement meter 31 as an electric signal.

By the way, since the opening / closing movement amount of the scissors-jaw member 11 has a one-to-one correspondence with the movement amount of the main shaft 10, the opening / closing movement of the scissors-jaw member 11 is measured by measuring the movement amount of the main shaft 10. The quantity can be measured. Scissors-shaped member 11
The hardness of the object can be detected by the relationship between the amount of movement of the object and the amount of strain at that time. Therefore, by measuring the amount of displacement of the strain gauge 12 and the displacement meter 31 at the same time, the hardness of the object can be determined. Can be detected.

These electric signals are processed and corrected by the control unit 36 so as to match the reaction force and hardness of the object. That is, the signal is processed so that the feedback is appropriately performed, and the voice coil motor 27b is fed back as a torque amount to operate, and force information is given to the operator through the operation grip portion 34 connected thereto.

As described above, the forceps mechanism section 32 ₃ and the operation section 33 ₅ having the same structure as the sensor and the actuator are mechanically separated, and the two are connected to each other by the control unit 36 by an electric signal to form a bilateral structure. In addition, the strain gauge 12 detects whether or not the scissors-jaw-shaped member 11 is in contact with the object, and the solenoid 40 is driven to mechanically connect the forceps-side mechanical operation connecting member 39 and the operating portion-side mechanical operation connecting member 41. By connecting or disconnecting to the forceps, there is no delay or oscillation due to the feedback from the operation part 33 ₅ to the forceps mechanism part 32 _3, and when the feedback control is not performed, the mechanical connection is performed and the conventional mechanical connection is performed. The same operation as the forceps having the configuration can be performed, and the control program is further simplified. In addition, the force of the amount of torque corresponding to the amount of movement and the force of the operation gripping portion 34 is generated at the forceps tip portion without being restricted by the mechanical mechanism of the operator, and the reaction force and the hardness of the forceps tip portion It is possible to return the force of the torque amount corresponding to the information of (1) to the operator as information without being restricted by the mechanical mechanism, and to return the emphasized expression above the mechanical mechanism to the operator through the operation unit.

FIG. 11A shows the overall construction of the 11th embodiment of the present invention. Forceps mechanism 32 ₃
In the middle of the main shaft 10, a displacement gauge 31 is attached, and at one end of the main shaft 10, a scissors-jaw-shaped member 11 having a pair of side faces and a strain gauge 12 is attached. . A voice coil motor 27a is provided at the other end of the main shaft 10.

[0082] On the other hand, it is at the operation unit 33 _6, displacement meter 3
8 and a strain gauge 35 are attached to the operation grip portion 34. Further, this operation unit 33 _6, a voice coil motor 27b is attached, the operation grip part 34 is adapted to interlock with the voice coil motor 27b. An electromagnetic braking mechanism 43 is attached to the operation grip portion 34.

The forceps mechanism section 32 ₃ and the operation section 33 ₆ are
They are not connected by a mechanical mechanism, but are connected to each other via the control device unit 36 by an electric signal. Figure 11
(B) is a diagram showing an electrical control configuration at this time.

The signals output from the displacement gauge 31 and the strain gauge 12 of the forceps machine structure section 32 ₃ are amplified and converted by the control section 36 so as to be suitable for driving the voice coil motor 27b of the operation section 33 _6. Is output to the voice coil motor 27b. Similarly, the signal from the operation unit 33 ₆ in displacement gauge 38 and the strain gauge 35, the control unit 36
Voice coil motor 27a of forceps mechanism 32 ₃
Amplification and conversion are performed so as to be suitable for driving of the voice coil motor, and the voice coil motor 27a outputs the voice coil motor 27a. In addition, the forceps mechanism section 3
The output signal of the strain gauge 12 of 2 ₃ is compared with a predetermined reference value in the control device section 36, and as a result, the electromagnetic braking mechanism 4
Drive 3

When the operator grips the operation grip portion 34 and moves the operation grip portion 34, an electric signal corresponding to the movement amount is output from the displacement meter 38. Further, when a force is applied to the operation grip portion 34, an electrical signal corresponding to the force is output from the strain gauge 12. The control device section 36 receives these signals, and the voice coil motor 27a of the forceps mechanism section 32 ₃ is driven. In the voice coil motor 27a,
A torque amount of force corresponding to the input signal is output. When the voice coil motor 27a is operated, the main shaft 10 connected to the voice coil motor 27a is operated, and the scissors-jaw-shaped member 11 is opened / closed according to the force corresponding to the torque amount.

When the scissors-jaw member 11 grips the object or contacts the object by the opening / closing operation, the scissors-jaw member is formed according to the reaction force from the object with respect to the opening / closing force of the scissors-jaw member 11 at that time. 11 is deformed. This deformation amount is the strain gauge 1
2 is detected and output as an electric signal. The amount of movement of the spindle 10 at this time is output as an electrical signal from the displacement meter 31.

Here, since the opening / closing movement amount of the scissors-jaw-shaped member 11 has a one-to-one correspondence with the movement amount of the main shaft 10, the scissors-jaw-shaped member 11 is measured by measuring the movement amount of the main shaft 10.
The moving amount of opening and closing can be measured. Since the hardness of the object can be detected by the relationship between the amount of movement of the scissors-shaped member 11 and the amount of strain at that time, the amount of displacement of the strain gauge 12 and the displacement meter 31 can be measured at the same time, Hardness can be detected. These electric signals are processed and corrected by the control unit 36 so as to match the reaction force and the hardness of the object. Then, the signal is processed so that the feedback is appropriately performed, and the voice coil motor 27b is fed back as a torque amount to be operated, and force information is given to the operator through the connected operation grip portion 34.

Further, when the object is contacted with a strong force, the reaction force of the scissors-jaw-shaped member 11 is large, and the output signal of the strain gauge 12 of the forceps mechanism section 32 ₃ is compared with the reference value by the control section 36. It Then, when the value of the output signal exceeds the reference value, the electromagnetic braking mechanism 43 is driven, and the movement of the operation grip portion 34 is stopped.

[0089] Thus, sensors and actuators disassociate forceps mechanism portion 32 ₃ and the operation unit 33 ₆ of the same configuration respectively mechanically Mechanistically, bilateral structure connected by the control device 36 by mutual electrical signals both In the above, by comparing the reaction force of the scissors-jaw-shaped member 11 with a reference value and driving the electromagnetic control mechanism 43 to stop the movement of the operation grip portion 34, only the torque control system actuator is used. It is possible to perform reliable braking, which was impossible with the configuration, and it is possible to return information on an object with a small deformation amount through the operation unit.

FIG. 12 is a diagram showing the overall construction of the twelfth embodiment of the present invention. In the same figure, a scissors jaw-shaped member 11 having a strain gauge 12 on a side surface is attached to one end portion on one side of the main shaft 10 inside the forceps mechanism portion 32 ₄ . Further, the other one end portion of the forceps mechanism 32 _4, the shaft 47 of the forceps mechanism portion 32 ₄ of the interior of the main shaft 10 and the displacement gauge 46 having an outer diameter of the same is, the tubular member 44 and the displacement gauge connection member They are connected by 45. Also,
A voice coil motor support 28 that supports the voice coil motor 27 is attached to the other end portion of the shaft 47 of the displacement meter 46 on the other side. Furthermore, the operation unit 17 _4, the movable gripping part 23 for interlocked by a voice coil motor driving portion 29, and a voice coil motor support 28 and the stationary gripping part 14.

FIG. 13 is an enlarged sectional view of a portion shown inside the line AA 'in FIG. As shown in FIG. 13, the main shaft 10 in the forceps mechanism portion 32 ₄ has a cylindrical member 44,
The shaft 47 of the displacement gauge 46 is connected and fixed by the displacement gauge connecting members 45 of the displacement gauges 48 and 49.

FIG. 14 is an exploded view of FIG. 14
As shown in, the main shaft 10 in the forceps mechanism section 32 ₄ is
It has a core portion 50 made of a conductive member and a coaxial member around the core portion 51 made of a non-corrosive insulating member. Further, the main shaft 10 also has a core portion 52, which is also made of a conductive member, and the shaft 47 of the displacement gauge 46, and a coaxial member around the core portion 52, which is made of an insulating member. .

In addition, a non-corrosive conductive member 54 of gold or the like is provided at one threaded end of the main shaft 10 in the forceps mechanism section 32 ₄ , and a screw of the shaft 47 of the displacement gauge 46 is similarly provided. The scraped one end also has a noncorrosive conductive member 55 such as gold. The inner diameters of the non-corrosive conductive member 54 of the main shaft 10 and the non-corrosive conductive member 55 of the shaft 47 of the displacement meter 46 in the forceps mechanism section 32 ₄ are equal to the outer diameters of the shafts 10, 47, and They are connected so as to come into contact with each other by an insulating tubular member 49 having a threaded side.

[0094] Furthermore, the tubular member 48, an inner diameter equal to the outer diameter of the outer diameter and the forceps mechanism portion 32 ₄ of the Hosotan portion 56 of the tubular member 49, and its outer shape forceps mechanism 32 ₄ fine end Part 5
6 is formed to have the same outer shape. Further, the tubular member 44 is
The inner diameter is formed to be equal to the outer shape of the tubular member 48 and the outer shape of the thin end portion 56 of the forceps mechanism portion 32 ₄ . The tubular member 44 and the tubular member 48 are fixed to the grooves 61, 62, 63 by screws 58, 59, 60.

In this way, the forceps mechanism section 32 ₄ and the displacement gauge connecting member 45 are made by the tubular members 44, 48 and 49.
It is possible to strengthen the connection part with. In addition, the forceps mechanism section 3
The mechanical and electrical disconnection between the 2 ₄ and the displacement gauge connecting member 45 allows the forceps mechanism section 32 ₄ and the displacement gauge connecting member 45 to be attached / detached, that is, to be exchangeable.

Further, here, the main shaft 1 in the forceps mechanism section 32 ₄ is
0 is coaxial with the core portion 50 and the core outer portion 51 formed of a conductive member, and the forceps mechanism portion 32 ₄
Since the non-corrosive conductive member 54 made of gold or the like is provided at the one-sided end of the main shaft 10 in which the main shaft 10 is screwed, the forceps mechanism section 32 ₄ including the scissors jaw-shaped member 11 can be washed.

Next, a thirteenth embodiment of the present invention will be described with reference to FIGS. 12, 13 and 15. A scissors jaw-shaped member 11 having a strain gauge 12 on the side surface in a pair configuration is attached to one end portion on one side of the main shaft 10 inside the forceps mechanism portion 32 ₄ . The other one end portion of the forceps mechanism 32 _4, the shaft 47 of the forceps mechanism portion 32 ₄ of the interior of the main shaft 10 and the displacement gauge 46 having an outer diameter of the same is by tubular member 44 and the displacement gauge connection member 45 It is connected. Also,
A voice coil motor support 28 that supports the voice coil motor 27 is attached to the other end portion of the shaft 47 of the displacement meter 46 on the other side. Furthermore, the operation unit 17 ₄ has a movable holding part 23 for interlocked by a voice coil motor driving unit 29 to the stationary gripping part 14.

As shown in FIG. 13, the forceps mechanism section 32.
The main shaft 10 in ₄ is connected and fixed by the shaft members 47 of the displacement gauge 46 by the tubular members 44, 48 and 49 and the displacement gauge connection member 45 of the displacement gauge 46.

FIG. 15 is a block diagram showing the configuration of FIG. 13 according to the thirteenth embodiment.
FIG. As shown in FIG. 15, the main shaft 10 in the forceps mechanism portion 32 ₄ has a coaxial shape of a core portion 50 formed of a conductive member and a core outer portion 51 formed of a non-corrosive insulating member around the core portion 50. Have members. Further, the main shaft 10 also has a core portion 52, which is also made of a conductive member, and the shaft 47 of the displacement gauge 46, and a coaxial member around the core portion 52, which is made of an insulating member. .

In addition, a non-corrosive conductive member 54 of gold or the like is provided at one threaded end of the main shaft 10 in the forceps mechanism section 32 ₄ , and a screw of the shaft 47 of the displacement gauge 46 is similarly provided. The scraped one end also has a noncorrosive conductive member 55 such as gold. The non-corrosive conductive member 54 of the main shaft 10 and the non-corrosive conductive member 55 of the shaft 47 of the displacement gauge 46 in the forceps mechanism section 32 ₄ have a conductive member 64 on a part of the inner diameter side thereof. And an insulative tubular member 6 having a screw on the inner diameter side.
Connected by five. The tubular member 65 has an inner diameter equal to the outer diameters of the shafts 10 and 47, and has an outer shape corresponding to the outer shape of the thin end portion 56 of the forceps mechanism portion 32 ₄ and the inner shape of the thin end portion 57 of the displacement meter connecting member 45. Formed equally.

Further, the tubular member 48 has an inner diameter equal to the outer diameter of the tubular member 65 and the outer diameter of the thin end portion 56 of the forceps mechanism portion 32 ₄ , and the outer shape thereof is the thin end of the displacement gauge connecting member 45. The shape is the same as the outer shape of the portion 57. The inner diameter of the tubular member 44 is formed to be equal to the outer shape of the tubular member 48 and the outer shape of the narrow end portion 57 of the displacement meter connecting member 56. The tubular members 48 and 44 are provided with screws 58, 59, 60.
Are fixed in the grooves 61, 62, 63.

In this manner, the tubular members 44, 48 and 65 enable the forceps mechanism section 32 ₄ and the displacement gauge connecting member 45 to be attached / detached and the connecting portion to be strengthened. Further, by providing the conductive member 64 on a part of the inner diameter side of the tubular member 65, the non-corrosive conductive member 54 which is provided at one screwed end portion of the main shaft 10 in the forceps mechanism portion 32 ₄ . It is not necessary to make contact with the non-corrosive conductive member 55 provided at the one-sided end of the shaft 47 of the displacement meter 46. For this reason,
Even if the contact portions of the non-corrosive conductive member 54 and the non-corrosive conductive member 55 are separated due to vibration, impact, etc. generated when the scissor force feedback forceps device is used, the state of being electrically connected is maintained. Holding, ie scissoring force feedback, is always possible.

Here, the main shaft 10 in the forceps mechanism section 32 ₄ is
Is a core portion 50 made of a conductive member and a core exterior 5 made of a non-corrosive insulating member around the core portion 50.
1, and the scissors-jaw-shaped member 11 is provided by having a non-corrosive conductive member 54 such as gold at one screwed end of the main shaft 10 in the forceps mechanism part 32 ₄ . It is also possible to wash the forceps mechanism portion 32 ₄ including the same.

Next, a fourteenth embodiment of the present invention will be described. FIG. 16A shows the overall structure of the 14th embodiment. In the forceps mechanism section 32 ₃ , the main shaft 10
A displacement meter 31 is attached in the middle. A scissors-jaw-shaped member 11 having a pair of side faces and a strain gauge 12 is attached to one end of the main shaft 10 on one side. A voice coil motor 27a is provided at the other end of the main shaft 10.

On the other hand, in the operating portion 33 ₇ , the displacement gauge 38 and the strain gauge 35 are attached to the operating lever 66. In addition, the voice coil motor 27 is provided on the operation unit 33 _7.
b is attached to this voice coil motor 27
The operation lever 66 is interlocked with b.

The forceps mechanism section 32 ₃ and the operation section 33 ₇ are not connected by a mechanical mechanism, and are connected to each other via an electric signal via the control section 36. Furthermore, the displacement gauge 31 of the forceps mechanism section 32 ₃ and the voice coil motor 27b
The operation portion 33 ₇ is integrated with the case to form a grip portion 67 ₁ .

FIG. 16B is a diagram showing an electrical control configuration at this time. In the figure, the forceps mechanism section 32 ₃
The displacement meter 31 and signals outputted from the distortion gauges 12, amplification and conversion is made to match the driving of the voice coil motor 27b of the operating unit 33 ₇ by the controller unit 36, it is outputted to the voice coil motor 27b . Similarly, the signals of the displacement gauge 38 and the strain gauge 35 in the operating section 33 ₇ are amplified and converted by the control section 36 so as to be suitable for driving the voice coil motor 27a of the forceps mechanism section 32 _3. , To the voice coil motor 27a.

The operator uses one palm and four fingers to operate the operation unit 33.
By gripping ₇ and moving the operating lever 66 with a free finger of the same hand, the displacement meter 38 outputs an electrical signal corresponding to the amount of movement. Further, the strain gauge 12 outputs an electric signal corresponding to the force applied to the operation lever 66 at that time. These signals are sent to the control device unit 36.
The voice coil motor 27 of the forceps mechanism 32 ₃ is received by
drive a. The voice coil motor 27a outputs a force having a torque amount according to the input signal. Then, by operating the voice coil motor 27a, the main shaft 10 connected to the voice coil motor 27a is operated, and the scissors-jaw-shaped member 11 is opened / closed according to the force corresponding to the torque amount.

By this opening / closing operation, when the scissors-jaw member 11 grips the object or contacts the object, depending on the reaction force from the object with respect to the opening / closing force of the scissors-jaw member 11 at that time, The scissors-shaped member 11 is deformed. Then, the deformation amount is detected by the strain gauge 12 and output as an electric signal. In addition, at this time, the movement amount of the opening and closing of the scissors-jaw-shaped member 11 has a one-to-one correspondence with the movement amount of the main shaft 10, and the displacement amount 31 measures the movement amount of the main shaft 10 to obtain the scissors-jaw-shaped member 11. It is possible to measure the movement amount of opening and closing. Since the hardness of the object can be detected by the relationship between the amount of movement of the scissors-shaped member 11 and the amount of strain at that time, it is possible to detect the amount of displacement of the strain gauge 12 and the displacement meter 31 at the same time. The hardness of can be detected.

These electric signals are processed and corrected by the control unit 36 so as to match the reaction force and the hardness of the object. That is, the signal is processed so as to be appropriately fed back, and the voice coil motor 27b is fed back as a torque amount and operated, and force information is given to the operator through the operation lever 66 connected thereto.

[0111] Thus, the operator grips the operating section 33 _7, by the operating lever 66 the operation and force feedback is obtained to separate the gripper 33 _7, the influence of the weight of the entire forceps apparatus to the operator The force applied to the tip of the forceps can be returned to the operator as information without applying the force.

Next, a fifteenth embodiment of the present invention will be described with reference to FIGS. FIG. 17 shows the overall structure of the forceps device according to the fifteenth embodiment. In the forceps mechanism section 32 ₃ , the main shaft 10 is provided inside the concentric circle of the cylindrical member 68. A scissors-shaped member 11 having a strain gauge 12 is attached to one end of the main shaft 10 on one side.

On the other hand, in the grip portion 67 ₂ , the displacement gauge 31 is attached to the middle of the grip portion main shaft 69. A voice coil motor 27a is provided at the other end of the grip portion main shaft 69. In addition, the grip 67 ₂
The operation unit 33 ₇ has a displacement gauge 38 and the strain gauge 35 and the voice coil motor 27b operations is attached a lever 66,. This voice coil motor 27b
Thus, the operation lever 66 is interlocked. Further, the displacement meter 31, the voice coil motor 27b and the operating section 33 ₇ are integrated by a case to form a gripping section 67 ₂ .

The forceps mechanism section 32 ₃ and the grip section 67 ₂ are detached by a mechanical mechanism, and at the same time, the electrical signal of the strain gauge 12 is also connected. The strain gauge 12 is a scissors-shaped member 1
The resistance value changes according to the force applied to 1. By measuring this resistance value, the force at that time is found.

FIG. 18 shows the forceps mechanism section 32 ₃ and the grip section 67.
₂ shows the separated and joined state, where (a) shows the separated state and (b) shows the joined state. Here, the signal from the strain gauge 12 is guided to the vicinity of the connection point with the grip portion 67 ₂ by the electric conducting wire 70 passing through the inside of the main shaft 10, and is connected to the forceps side coil 71 here. Similarly, in the vicinity of the grip 67 ₂ inside the grip main shaft 69, the grip coil 72 is also provided.
Is provided. By joining the forceps mechanism section 32 ₃ and the grip section 67 ₂ by a mechanical mechanism, both coils face each other and become a transformer shape. By applying an AC signal to this, coupling is performed between both coils and an electric signal is received.

As described above, the signal of the strain gauge 12 of the forceps mechanism section 32 ₃ is converted into an AC signal, and the forceps side coil 71 and the gripping section are respectively provided inside the main shaft 10 and in the vicinity of the contact point of the gripping section main shaft 69. By providing the coil 72, the forceps mechanism section 32 ₃ and the grip section 67 ₂ are detached by a mechanical mechanism, and at the same time, the electrical signal of the strain gauge 12 is also connected without using an electrical connector, facilitating disinfection and It is possible to prevent contact failure due to disinfection and other factors,
It is possible to return to the operator as information added to the tip of the forceps.

[0117]

Therefore, according to the present invention, the following excellent effects are obtained as compared with the prior art. A sensor for detecting the force applied to the jaws of the forceps, a control device for feeding back the sensor output, a force display device for feeding back the force to the operation part by the output of the control device, and a mechanism for detecting the operation of the operator. Therefore, it is provided with a drive device for driving the forceps mechanism portion and a control device therefor, and it is possible to reduce the size and weight so that the device can be operated by being held in the hand.

Further, the forceps tip portion has a detachable mechanical structure, and at that time, an electric signal can be easily connected, and the force applied to the forceps scissors jaw can be fed back to the operating side. The operator can obtain the force information of the force applied to the jaw of the forceps scissors, and since it is a medical treatment tool, the tip of the forceps can be attached and detached to facilitate disinfection of the tip.

[Brief description of drawings]

FIG. 1 (a) is an overall configuration diagram of a first embodiment of a scissor force feedback forceps device according to the present invention,
(B) is a block diagram of the control system of FIG.

FIG. 2A is an overall configuration diagram of a second embodiment, and FIG.
FIG. 3 is a block diagram of the control system of FIG.

3 (a) is an overall configuration diagram of a third embodiment of the present invention, and FIG. 3 (b) is a block diagram of the control system of FIG. 3 (a).

4A is an overall configuration diagram of a fourth embodiment of the present invention, and FIG. 4B is a block diagram of a control system of FIG. 4A.

5A is an overall configuration diagram for explaining a fifth embodiment of the present invention, and FIG. 5B is a block configuration diagram of the electrical control system in FIG. 5A.

6A is an overall configuration diagram illustrating a sixth embodiment of the present invention, and FIG. 6B is a block configuration diagram of the electrical control system in FIG. 6A.

7A is an overall configuration diagram illustrating a seventh embodiment of the present invention, and FIG. 7B is a block configuration diagram of the electrical control system of FIG. 7A.

8A is an overall configuration diagram illustrating an eighth embodiment of the present invention, and FIG. 8B is a block configuration diagram of the electrical control system of FIG. 8A.

9A is an overall configuration diagram illustrating a ninth embodiment of the present invention, and FIG. 9B is a block configuration diagram of the electrical control system of FIG. 9A.

10A is an overall configuration diagram for explaining a tenth embodiment of the present invention, and FIG. 10B is a block configuration diagram of the electrical control system of FIG. 10A.

11A is an overall configuration diagram illustrating an eleventh embodiment of the present invention, and FIG. 11B is a block configuration diagram of the electrical control system of FIG. 11A.

FIG. 12 is a diagram showing the overall configuration of a twelfth embodiment of the present invention.

FIG. 13 is an enlarged cross-sectional view of a portion shown inside the line AA ′ in FIG.

FIG. 14 is an exploded view of FIG.

FIG. 15 is an exploded view of FIG. 13 according to a thirteenth embodiment.

16 (a) is an overall configuration diagram illustrating a fourteenth embodiment of the present invention, and FIG. 16 (b) is a block configuration diagram of the electrical control system of FIG. 16 (a).

FIG. 17 is a diagram showing the overall configuration of a forceps device according to a fifteenth embodiment.

18A and 18B show the separated and joined state of the forceps mechanism section 32 ₃ and the gripping section 67 ₂ , FIG. 18A being a separated state and FIG. 18B showing a joined state.

[Explanation of symbols]

10 ... Spindle, 11 ... Scissors jaw member, 12 ... Strain gauge, 13
... fixed gripping part support body, 14 ... fixed gripping part, 15 ... scissor holding force display device, 16 ... display device driving part, 17 _{1 to} 17 ₃ , 3
3 _{1 to} 33 ₇ ... Operation part, 18 ... Signal amplifier, 19 ... Pneumatic control device, 20 ... Cylindrical container, 21 ... Movable plate, 22
... pump, 23 ... movable gripping part, 24 ... fixed gripping part, 25
... function conversion part, 27, 27a, 27b ... voice coil motor, 28 ... voice coil motor support, 29 ... voice coil motor drive part.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Reiho Wang 2-43-2 Hatagaya, Shibuya-ku, Tokyo Inside Olympus Optical Co., Ltd.

Claims (1)

[Claims] 1. A pair of scissor-jaw members that are provided at the tip of the forceps and that can be opened and closed, and detection that is provided in the vicinity of the scissors-jaw members and that detects the scissor-holding force applied to the scissors-jaw members. Means, based on the scissoring force detected by the detecting means, a return scissoring force providing means for providing return information of the scissoring force so that the operator returns to operate the scissors jaw-shaped member, A scissor force feedback forceps device, comprising: an operating means for operating the scissors jaw-shaped member by the scissor force provided by the return scissor force providing means.