JP2009189506A - Remote operation system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a remote operation system which can be simply configured and miniaturized even while having excellent force recognition performance and operability. <P>SOLUTION: The remote operation system has an operation part to be operated by an operator, a work part provided on a position away from the operation part and operated accompanying the operation of the operation part, and an energy converter respectively connected to the operation part and the work part. The energy converter includes a first converter for converting mechanical energy inputted from the operation part to electric energy, and a second converter for converting the electric energy obtained from the first converter to the mechanical energy and transmitting it to the work part, the first converter and the second converter are provided in one electric circuit, and force inputted to the operation part and force outputted from the work part are in proportional relation. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a remote operation system, and more particularly, to a remote operation system that can realize excellent force recognition performance and operability with a simple structure.

In recent years, in the medical field, master-slave devices that perform diagnosis and surgery by remotely operating a manipulator inserted into a living body have been widely used.
For example, in endoscopic surgery, a practitioner works while feeling a reaction force with an operation unit mechanically directly connected to a working unit (manipulator) at the tip while relying on vision by a camera.
In such work, when the connecting part between the working part and the operating part has high rigidity, the reaction force received by the working part is mechanically transmitted to the operating part, so that the practitioner receives the working part at the operating part. You can work while directly feeling the reaction force.
However, for example, in an operation in which a thin tube is inserted into a fine part to remove a tumor or the like, it is necessary to make the thin tube flexible (flexible). Therefore, it is very difficult to mechanically transmit it to the operation unit.

In view of such problems, for example, a master-slave device as described in Patent Document 1 below has been proposed.
The master-slave device described in Patent Document 1 is configured to provide a sensor at the tip of a manipulator and feed back a signal from this sensor to the operation unit to reflect the sense of the operator's hand.

However, in the apparatus as described in Patent Document 1, it is necessary to provide a sensor at the tip of the manipulator, and it is difficult to install the sensor when the manipulator is fine.
In addition, since a power source for supplying power to a plurality of motors used to drive the manipulator and a control device for performing feedback control are required, the device becomes larger and more complicated and used. There is a problem that the location is limited.

On the other hand, in the rehabilitation of the upper limb of a hemiplegic patient, the patient's upper limb is forcibly moved by a nurse or an electrically driven device, and the patient is passively rehabilitated.
Such a rehabilitation method has a limited time for rehabilitation by a nurse, and there is a risk of runaway of the device when using the device. Moreover, in any method, it is difficult to give the patient a mechanical sensation close to the real sensation, and the recovery becomes very slow because the patient becomes passive.

Patent Document 2 below discloses an upper limb rehabilitation device that can transmit a mechanical sensation close to a real sensation to a patient.
Specifically, at least one drive means for transmitting a mechanical sensation to the patient with respect to the operation of at least one degree of freedom among the three degrees of freedom of the patient's wrist, and at least one functionality for adjusting the drive of the drive means An upper limb rehabilitation device having a fluid clutch is disclosed.
According to this apparatus, a driving force is transmitted from a driving means (motor) via a functional fluid (ER fluid, MR fluid, etc.) clutch, whereby a three-dimensional mechanical sensation can be transmitted to the patient's upper limb. In addition, the patient can actively rehabilitate.

However, this device is effective for mild hemiplegia in which the rehabilitation target part (wrist) is moved directly by the patient, so it is effective for mild hemiplegia in which the rehabilitation target part moves to some extent, but it is a heavy piece that hardly moves. It is difficult to use for patients with paralysis.
In addition, since the device is a fixed installation type, it is difficult to perform rehabilitation outside a fixed place such as a hospital.

Patent Document 3 listed below discloses a device that can be used by a patient with severe hemiplegia in which a rehabilitation target hardly moves.
In this device, a sensor that detects the movement of the muscle is attached to a healthy part of the user, and an actuator that operates based on the movement of the muscle detected by the sensor is attached to the weak part of the user. By moving both the healthy side and the weak side, the user who has weak half-body strength can be rehabilitated.

However, in this disclosed technique, since the assisting force by the actuator is not based on the user's own energy, the rehabilitation operation is performed while directly feeling the force acting on the part (weak part) that the user tries to move by rehabilitation. Can not do.
In addition, since it is necessary to install an energy source (pneumatic source) for driving the actuator (pneumatic actuator), the apparatus becomes larger and heavier, and it is difficult to perform rehabilitation outside a fixed place such as a hospital. .

JP 2002-59380 A JP 2006-247280 A JP 2008-12358 A

  The present invention has been made to solve the above-described problems, and provides a remote operation system that can be miniaturized with a simple configuration while having excellent haptic recognition performance and operability. It is to provide. Specifically, for example, in a medical field, a master-slave device for performing endoscopic surgery on a minute part, or the like, while actively feeling the force acting on the rehabilitation site using the patient's own energy. It is intended to provide a remote control system that can be applied to a rehabilitation device that can be used safely regardless of the choice.

  According to a first aspect of the present invention, there is provided an operation unit operated by an operator, a working unit that is provided at a position apart from the operation unit and operates in accordance with the operation of the operation unit, the operation unit, and the working unit Each of which is connected to an energy converter, and the energy converter is obtained from the first converter that converts mechanical energy input from the operation unit into electric energy, and the first converter. A second converter for converting electrical energy into mechanical energy and transmitting it to the working unit, wherein the first converter and the second converter are provided in one electric circuit, and the operation unit The present invention relates to a remote control system characterized in that the force input to the power and the force output from the working unit are in a proportional relationship.

  The invention according to claim 2 relates to the remote control system according to claim 1, further comprising energy supplement means for compensating for energy loss consumed in the electric circuit.

  According to a third aspect of the invention, the energy replenishing means supplies a sensor that measures energy consumed in the electric circuit and power corresponding to energy equal to or less than the amount of energy consumed measured by the sensor to the electric circuit. The remote control system according to claim 2, further comprising:

  The invention according to claim 4 is characterized in that the energy replenishing means measures the driving speed and / or displacement of the first converter and the second converter, and the driving speed of the first converter. Deviation of the driving speed of the second converter, deviation of the displacement of the first converter and the displacement of the second converter, primary combination of the driving speed and displacement of the first converter and the second conversion 3. The remote control system according to claim 2, further comprising a power source for supplying electric power to the electric circuit so as to reduce any one of a deviation of a primary coupling between a driving speed of the machine and a displacement.

  The invention according to claim 5 includes a speed conversion mechanism interposed between at least one of the operation unit and the first converter or between the working unit and the second converter, 2. The remote operation system according to claim 1, wherein the speed conversion mechanism increases a driving speed of the first converter and the second converter as compared with driving speeds of the operation unit and the working unit. About.

  The invention according to claim 6 relates to the remote control system according to claim 1, wherein actuator coefficients of the first converter and the second converter are different.

  The remote control according to any one of claims 1 to 6, further comprising a visual sensor for the operator to visually recognize the working unit while operating the operation unit. About the system.

  The invention according to claim 8 is a system used by inserting the working unit into a living body of a patient, wherein the operation unit and the working unit are connected by a thin tube, and the working unit is a tumor or the like. The remote control system according to any one of claims 1 to 7, wherein the remote control system comprises a micro blade for cutting out a blade.

  The invention according to claim 9 is a system used for rehabilitation of a hemiplegic patient, wherein the operation part is attached to a healthy part of the patient, and the working part is attached to an obstacle part of the patient. The remote control system according to claim 1.

  The invention according to claim 10 relates to the remote control system according to any one of claims 1 to 9, wherein the energy converter is a DC motor.

  According to the first aspect of the invention, by using the user's own energy, an energy source such as a power source can be unnecessary or downsized, and the reaction force that acts on the working unit without the need for a sensor can be used. Proportional force can be detected by the operation unit, so it is suitable as a master-slave device or rehabilitation device for hemiplegic patients in the medical field that has a high force recognition performance with a very simple configuration and can be miniaturized. A remote control system can be obtained.

  According to the second aspect of the invention, since the energy supplement means for compensating for the energy loss consumed in the electric circuit is further provided, when the resistance of the working unit is large, the difference between the operation unit and the working unit is different. Can be suppressed, and the remote control system is excellent in operability.

  According to the invention of claim 3, the energy replenishing means supplies the electric circuit corresponding to energy equal to or less than the amount of energy consumed by the sensor that measures the energy consumed by the electric circuit. Since it consists of a power supply, it is possible to suppress a difference in movement between the operation unit and the working unit without installing a sensor near the working unit and without requiring complicated control with a simple configuration.

  According to the invention of claim 4, the energy replenishing means is a measuring means for measuring the driving speed and / or displacement of the first converter and the second converter, and the driving speed of the first converter. And the deviation of the driving speed of the second converter, the deviation of the displacement of the first converter and the displacement of the second converter, the primary combination of the driving speed and the displacement of the first converter and the second By comprising a power source that supplies power to the electric circuit so as to reduce either the driving speed of the converter or the deviation of the primary coupling of the displacement, the operation unit and the work can be performed without the need for feedback control from the sensor. It can suppress that a difference arises in a motion of a part.

  According to the invention which concerns on Claim 5, it has the speed conversion mechanism interposed in at least any one between an operation part and a 1st converter or between a working part and a 2nd converter, and this speed The conversion mechanism increases the drive speeds of the first converter and the second converter as compared with the drive speeds of the operation unit and the work unit, so that the operation unit and the work unit can be operated without an external power supply. It is possible to suppress a difference in movement.

  According to the invention of claim 6, the actuator coefficient of the first converter and the second converter is different, so that the ratio of the actuator coefficient becomes the reduction ratio, without requiring a mechanical speed conversion mechanism, It can suppress that a difference arises in a motion of an operation part and a work part.

  According to the seventh aspect of the invention, since the operator is provided with a visual sensor for visually recognizing the working part while operating the operating part, the operator can operate while watching the movement of the working part. Thus, operability can be improved.

  According to the eighth aspect of the present invention, it is possible to insert a thin tube into the patient's living body and excise the patient's tumor or the like with the micro blade of the working unit, and to sense the force at the time of excision with the operation unit. It becomes possible. In addition, when the micro blade is a micro scissor, the force acting on the micro scissors is small because the force transmitted to the outside is small, so that most of the force can be detected by the operation unit. The excision can be easily and reliably performed.

  According to the invention according to claim 9, by operating the operation unit using the movement of the healthy part (for example, the left hand) of the patient itself, the obstacle part (for example, the right hand) can be moved together with the working unit, and the power supply is turned on. Since it can be made unnecessary, it can be used as a rehabilitation device that can be used actively and safely regardless of location while directly feeling the force acting on the obstacle using the patient's own energy.

  According to the invention which concerns on Claim 10, since an energy converter is a DC motor, it becomes possible to perform reliably the mutual conversion of mechanical energy and electrical energy with a simple and cheap structure.

Hereinafter, a preferred embodiment of a remote control system according to the present invention will be described with reference to the drawings.
FIG. 1 is a diagram showing a basic configuration of a remote control system according to the present invention.
The remote operation system according to the present invention is provided with an operation unit (1) operated by an operator (system user) and a position separated from the operation unit (1), and operates in accordance with the operation of the operation unit. And an energy converter (3) connected to the operation unit (1) and the work unit (2), respectively.

The energy converter (3) converts the mechanical energy input from the operation unit (1) into electrical energy, and converts the electrical energy obtained from the first converter into mechanical energy. And a second converter (32) for transmitting to the working unit (2).
The force (energy) input to the operation unit (1) and the force (energy) output from the work unit (2) are in a proportional relationship.
As the first converter (31) and the second converter (32), a DC motor is most preferably used. Therefore, in the following description, a case where a DC motor is used as the first converter (31) and the second converter (32) will be described as an example.
However, in the present invention, other types of converters (for example, piezoelectric elements) are used in place of the DC motor as long as mutual conversion between mechanical energy and electrical energy can be performed with the same relational expression as that of the DC motor. May be.

The first converter (31) and the second converter (32) are provided in one electric circuit.
In the electric circuit, the first converter (31), the resistor (R), the second converter (32), and the coil (L) are connected in series so that a current flows in this order.

作業部（２）の運動方程式は下式となる。

ここで、
Ｔ：モータトルク
Ａ：アクチュエータ係数（トルク定数、時定数の総称として用いる）
である。 A case where the same motor (DC motor) is used as the first converter (31) and the second converter (32) in the remote operation system shown in FIG. 1 (hereinafter referred to as a basic embodiment) will be described.
In this case, if there is no external power supply,
The equation of motion of the operation unit (1) is

The equation of motion of the working unit (2) is as follows.

here,
T: Motor torque A: Actuator coefficient (used as a general term for torque constant and time constant)
It is.

２つのモータのアクチュエータ係数が等しい場合、即ちＡ_１＝Ａ_２＝Ａの場合、

となる。ここで

である。 If the effect of L is ignored in a sufficiently slow phenomenon, the following equation is obtained.

If the actuator coefficients of the two motors are equal, that is, if A ₁ = A ₂ = A,

It becomes. here

It is.

Since the current is erased, the variables of these equations are expressed only by the mechanical system variable θ. If C ₀ is considered as an equivalent damping constant, it is equivalent to the system of only the mechanical system as shown in FIG. is there.
That is, it is equivalent to a system in which two moments of inertia are coupled by an attenuator.
Here, if the influence of the two moments of inertia, that is, the case where the inertial force is sufficiently small, F ₁ = F ₂ approximately, and the reaction force of the working unit and the force (torque) applied to the operation unit become equal.
Therefore, the operation unit (1) can be operated while directly feeling the reaction force of the working unit (2). If the reaction force is small, the working unit (2) moves at a speed not much different from that of the operation unit, so that the operation unit (1) can be operated while feeling the reaction force almost in real time.
As described above, according to the present invention, it is possible to obtain a remote control system having high force sense recognition performance without requiring a power source or a sensor.
In the above description, it is assumed that the motor is a rotary motor (when the operation unit and the working unit perform a rotational motion), but when the motor is a linear motor (the operation unit and the working unit perform a translational motion). The same idea holds for (case).

In the basic embodiment, energy loss occurs due to the resistance of the electric circuit. Therefore, when the resistance (reaction force) received by the working unit (2) is large, the time difference between the movement of the operating unit (1) and the working unit (2). Occurs. That is, the exercise performance is deteriorated.
As a method for improving this defect (improving athletic performance), first, there is a method of providing an energy replenishing means for compensating for the energy loss consumed in the electric circuit.

FIG. 3 is a diagram illustrating an example (first example) of a remote control system provided with an energy replenishment unit.
In this example, the energy replenishing means includes a sensor (not shown) that measures energy consumed in the electric circuit, and a power source (electric power that supplies energy equal to or less than the amount of energy consumed measured by the sensor) ( 4).

ここで、Ｒは事前に計測しておくことができる既知の定数（抵抗値）であり、ｉは電流センサによりリアルタイムで計測する。
上式において、α＝１とすれば、電気回路で消費されるエネルギーを全て補充することが可能であるが、安定性確保のため、αは０＜α≦１の範囲で状況に応じて設定する。
上記ｅを加えると、電気回路の運動方程式は、

となり、整理すれば、

となる。式形を見れば、電気回路の抵抗がＲからＲ（１−α）に減少したのと同等である。
したがって、等価な減衰定数をＣとすれば、

となり、理論的にはαを１に近づければ、Ｃをいくらでも大きくすることが可能となり、減衰定数Ｃを大きくすることによって、操作部（１）への入力と作業部（２）からの出力の速度差を十分に小さくすることができる。つまり、運動性能を改善することができる。
但し、１−αが負になれば、電気回路で消費される消費されるエネルギーを超えて電源（４）からエネルギーが供給されることになってシステムが不安定になるので、負にならないようにαを設定する必要がある。 Specifically, a voltage e expressed by the following formula is applied to the electric circuit by the power source (4).

Here, R is a known constant (resistance value) that can be measured in advance, and i is measured in real time by a current sensor.
In the above equation, if α = 1, it is possible to replenish all the energy consumed by the electric circuit, but α is set according to the situation in the range of 0 <α ≦ 1 in order to ensure stability. To do.
When the above e is added, the equation of motion of the electric circuit is

If you organize,

It becomes. Looking at the formula form, it is equivalent to the resistance of the electric circuit being reduced from R to R (1-α).
Therefore, if the equivalent attenuation constant is C,

Theoretically, if α is close to 1, C can be increased as much as possible. By increasing the damping constant C, the input to the operation unit (1) and the output from the work unit (2) The speed difference can be made sufficiently small. That is, the exercise performance can be improved.
However, if 1−α becomes negative, the energy will be supplied from the power source (4) exceeding the energy consumed in the electric circuit and the system will become unstable, so that it will not become negative. Must be set to α.

In the above system, the current i needs to be measured in real time by the sensor in order to determine the voltage e applied to the electric circuit by the power source (4). The current i is measured by the working unit (2) or the operation unit (1). Since they are common, it is not necessary to provide a sensor in the working unit (2), and a sensor can be provided in the vicinity of the operation unit (1). The power source (4) can also be provided in the vicinity of the operation unit (1).
Therefore, even when a space cannot be secured in the vicinity of the working unit (2) such as a surgical robot, it can be used without any problem.

Next, a second example of the remote control system provided with the energy replenishing means will be described based on FIG. 3 again.
In the second example, the energy replenishing means includes measuring means (not shown) for measuring the driving speeds of the first converter (31) and the second converter (32), and the first converter (31). And a power source (4) for supplying electric power to the electric circuit so as to reduce the deviation between the driving speed of the second converter (32) and the driving speed of the second converter (32).
In this example as well as other examples, the case where a DC motor is used as the first converter (31) and the second converter (32) will be described.

測定手段は、リアルタイムで速度を計測できるものであれば限定されず、例えばエンコーダ、リゾルバ、タコジェネレータ等を使用することができる。 The measuring means measures the speeds of the two motors, and the power source (4) applies a voltage e expressed by the following formula to the electric circuit in real time.

The measuring means is not limited as long as it can measure the speed in real time. For example, an encoder, a resolver, a tachometer, or the like can be used.

となり、Ｌの影響を無視すれば、

となり、等価な減衰定数は、

となる。
従って、ｐを大きくすれば、Ｃを十分大きくすることが可能となり、操作部（１）への入力と作業部（２）からの出力の速度差を十分に小さくすることができる。つまり、運動性能を改善することができる。 When the above e is added, the equation of motion of the electric circuit is

If we ignore the influence of L,

And the equivalent damping constant is

It becomes.
Therefore, if p is increased, C can be sufficiently increased, and the speed difference between the input to the operation unit (1) and the output from the work unit (2) can be sufficiently reduced. That is, the exercise performance can be improved.

In addition, about the control system of the voltage e applied to an electric circuit from a power supply (4), it can also be set as PI control represented by the following Formula instead of the above-mentioned proportional control.

Moreover, you may control the electric power supply from a power supply (4) using the measurement result of displacement (theta) ₁ , (theta) ₂ . In this case, not only the speed but also the position can be controlled.
Specifically, in the second example described above, the measuring means measures the displacements (θ ₁ , θ ₂ ) instead of the driving speeds of the first converter (31) and the second converter (32). The power source (4) can be configured to supply power to the electric circuit so as to reduce the deviation between the displacement of the first converter (31) and the displacement of the second converter (32). .
Alternatively, in the second example described above, the measuring means measures the displacement in addition to the driving speeds of the first converter (31) and the second converter (32), and the power source (4) It is possible to supply power to the electric circuit so as to reduce the deviation between the primary combination of the driving speed and displacement of the first converter and the primary combination of the driving speed and displacement of the second converter.

となる。
ここで、
Ｔ_１：バッテリーへの接続時間
Ｔ_２：バッテリーへの非接続時間
Ｅ：バッテリーの電圧
である。
従って、必要なｅになるようにＴ_１／（Ｔ_１＋Ｔ_２）をリアルタイムで制御するとよい。 In the first example and the second example described above, an example of a method of applying the voltage e to the electric circuit from the power source (external power source) (4) will be described.
As shown in FIG. 4, if a low-voltage battery is used as the power source (4) and the two switches (6) are connected to the battery at high speed, the average is obtained.

It becomes.
here,
T ₁ : battery connection time T ₂ : battery non-connection time E: battery voltage.
Therefore, T ₁ / (T ₁ + T ₂ ) may be controlled in real time so that the required e is obtained.

As another method for improving the defect that a time difference occurs between the movements of the operation unit (1) and the working unit (2), there is a method of providing a speed conversion mechanism.
More specifically, a speed conversion mechanism is provided between at least one of the operating unit (1) and the first converter (31) or between the working unit (2) and the second converter (32). . And by this speed conversion mechanism, the drive speeds of the first converter (31) and the second converter (32) are made larger than the drive speeds of the operation unit (1) and the working unit (2).

FIG. 5 is a diagram illustrating an example of a remote control system including a speed conversion mechanism (5).
In this example, the case where a DC motor is used as the first converter (31) and the second converter (32) will be described.
Moreover, about the case where the speed conversion mechanism (5) is provided both between the operation unit (1) and the first converter (31) and between the working unit (2) and the second converter (32). explain.

とし、これらとは別に操作部（１）及び作業部（２）の機械系の速度をそれぞれ

とする。この速度は回転でも並進でもよいが、ここでは回転で説明する。 In FIG. 5, the rotational speed of the motor connected to the operation unit (1) and the rotational speed of the motor connected to the working unit (2) are respectively shown.

Separately from these, the speed of the mechanical system of the operation unit (1) and the working unit (2)

And This speed may be rotation or translation, but will be described here as rotation.

速度変換機構を介装した場合の機械系とモータの速度比は、操作部（１）と作業部（２）で異なっていてもよいし、一方だけ速度変換機構を介装してもよいが、以下では、説明を分かり易くするために操作部でも作業部でも同じ速度比Ｎの速度変換機構を用いる場合を説明する。

When the speed conversion mechanism is interposed, the speed ratio between the mechanical system and the motor may be different between the operation unit (1) and the work unit (2), or only one of them may be interposed with the speed conversion mechanism. In the following, a case where a speed conversion mechanism having the same speed ratio N is used in both the operation unit and the work unit will be described for easy understanding.

Ｊ，Ｋは機械系のパラメータとすれば、

となる。 Assuming the speed ratio as

If J and K are mechanical parameters,

It becomes.

Compared with the case without the speed conversion mechanism, the equivalent damping constant of the mechanical system changes from C ₀ to N ² C ₀ , so that it can be seen that if N is increased, the damping constant can be dramatically increased.
Therefore, by providing the speed conversion mechanism, the speed difference between the input to the operation unit (1) and the output from the work unit (2) can be sufficiently reduced. That is, the exercise performance can be greatly improved. There is also an advantage that an external power supply is not required.

とすると、操作部の運動方程式は下式となり、

作業部の運動方程式は下式となる。

As another method for improving the disadvantage that a time difference occurs between the operation unit and the working unit, there is a method in which the actuator coefficients of the first converter and the second converter are made different.
In the above-described example, the case where A ₁ = A ₂ = A has been described. In this case, the force and movement are one-to-one between the operation unit and the working unit.
In the following, the case where A ₁ ≠ A ₂ is considered.

Then, the equation of motion of the operation unit is

The equation of motion of the working part is as follows.

となり、十分遅い現象でＬの影響を無視すれば

となり、操作部の運動方程式は下式となり、

作業部の運動方程式は下式となる。

ここで

であり、Ｃ_１が十分大きければ、

となるので、ｎ＞１であれば、作業部はほぼ減速比１／ｎに減速され、作業部のトルクは操作部のほぼｎ倍になる。ｎ＜１であれば逆に増速となる。
このようにアクチュエータ係数を操作部側と作業部側で異ならせることにより、減速器や増速器を挿入しなくても、それと同等の効果を得ることが可能となる。尚、トランスを用いることによっても同様の作用効果が得られる。 If you consider the equation of motion of the electric circuit without a power supply,

If we ignore the effect of L because it is a sufficiently slow phenomenon

And the equation of motion of the control unit is

The equation of motion of the working part is as follows.

here

And if C ₁ is large enough,

Therefore, if n> 1, the working unit is decelerated substantially to a reduction ratio 1 / n, and the torque of the working unit is almost n times that of the operating unit. Conversely, if n <1, the speed increases.
Thus, by making the actuator coefficient different between the operation unit side and the working unit side, it is possible to obtain the same effect without inserting a speed reducer or a speed increaser. Similar effects can be obtained by using a transformer.

として計算する。 However, this method, if there is no sufficiently large damping constant C ₁ equivalent mechanical system, reduction in the rate of working side by energy loss in the electric circuit occurs.
When it is necessary to avoid this, it is effective to provide the above-described energy supplementing means (first and second examples).
However, the speed deviation in the second example is

Calculate as

Hereinafter, application examples of the remote control system according to the present invention will be described.
FIG. 6 is a schematic view showing an example in which the remote control system according to the present invention is applied to a system for endoscopic surgery.
When applied to a system for endoscopic surgery, high motor performance (operability) is required, and a space cannot be secured in the vicinity of the working unit (2). (First and second examples) are particularly preferably used. However, other systems described above can also be used.

A DC motor is used as the first converter (31) and the second converter (32), and the operation unit (1) and the working unit (2) are connected by a thin tube (7) that can be inserted into a human body. Has been.
In the illustrated example, the operation unit (1) includes a lever that can be manually rotated by the operator, and drives the motor that constitutes the first converter (31) by rotating the operation unit (1). be able to. Further, a control system for an electric circuit such as a power source (4) and a current sensor is disposed in the vicinity of the operation unit (1).
The working unit (2) is a micro blade, specifically a micro scissor, which can be inserted into a patient's living body and excised from the tumor, and is driven by the motor constituting the second converter (32). Are configured to open and close.

The reaction force that the micro scissors of the working part (2) receives at the time of excision is only the motor torque if it is cut when the angles of the two blades constituting the scissors are parallel, so that almost no force acts on the thin tube (7). . Therefore, the thin tube (7) can be made of a flexible material that can be bent along blood vessels and ureters in the human body. However, it can also be composed of a rigid material.
Inside the narrow tube (7), wiring of an electric circuit for electrically connecting the operation unit (1) and the working unit (2) is inserted.

According to this system for endoscopic surgery, a thin tube (7) can be inserted into a patient's living body and a patient's tumor or the like can be excised with the micro scissors of the working part (2). The reaction force received by (2) can be sensed in substantially real time by the operation unit (1).
Further, since the reaction force acting on the micro scissors is mostly internal force and the force transmitted to the outside is small, the force of cutting with the micro scissors at the time of excision can be accurately detected by the operation unit (1).
Furthermore, since an optical fiber is inserted into the narrow tube (7) to form a fiberscope (visual sensor), the operator can visually recognize the working unit (2) while operating the operating unit (1). In addition, excision work and the like can be performed more accurately. In this case, since the exercise performance may be low, a system without an energy replenishing means can be used, and a power source is not necessary.

FIG. 7 is a schematic view showing an example in which the remote control system according to the present invention is applied to an upper limb rehabilitation system for a hemiplegic patient.
The system of the illustrated example is configured to be wearable so that the operation unit (1) can be mounted on a healthy part (for example, the left hand) of a patient and the working unit (2) can be mounted on an obstacle (for example, the right hand) of a patient. Has been. The operation unit (1) and the working unit (2) can be mounted on the left leg and the right leg, respectively, so that it can be used as a lower limb rehabilitation system.
In the illustrated example, the operation unit (1) and the working unit (2) are configured by levers that rotate in conjunction with the operation of bending the joint of the elbow.

  A DC motor is used as the first converter (31) and the second converter (32), and the operation unit (1) and the working unit (2) are connected by wiring of an electric circuit. The electric circuit is provided with a power source (4) and a control system for the electric circuit. A lightweight battery is preferably used as the power source (4).

When applied to an upper limb rehabilitation system, a sufficient space can be secured in the working part (disability part), so a system that uses the deviation between the speed of the operation part (healthy part) and the speed of the working part (disability part), specifically For this, the second example of the remote control system provided with the energy replenishing means described above can be suitably used.
However, other systems described above can be appropriately selected and used according to the required performance. For example, when a time difference may occur between the operation unit (healthy unit) and the operation unit (failure unit), use a system that does not include an energy replenishment unit (for example, a system that includes a speed conversion mechanism). In this case, an external power supply is not necessary.

  According to this system for rehabilitation of the upper limb, by operating the operation unit using the movement of the healthy part (for example, the right hand) of the patient itself, the obstacle part (for example, the left hand) can be moved together with the working unit. Moreover, since a power supply can be made unnecessary, it can be worn and used, and rehabilitation can be performed anywhere without being restricted by a place. Moreover, since the handicapped part is moved based on one's own will, a mental recovery effect can be expected. Furthermore, since a reaction force can be felt in his / her healthy part, rehabilitation can be performed while adjusting the force with confidence.

  The present invention can be particularly suitably used in the medical field such as a system for endoscopic surgery and a rehabilitation system for hemiplegic patients.

It is a figure showing the basic composition of the remote control system concerning the present invention. It is the figure which converted the system of FIG. 1 into the system of only an equivalent mechanical system. It is a figure which shows the example of the remote control system provided with the energy supplement means. It is explanatory drawing about an example of the method of giving a voltage to an electric circuit from a power supply in the remote control system provided with the energy supplement means. It is a figure which shows the example of the remote control system provided with the speed conversion mechanism. It is the schematic which shows the example which applied the remote control system which concerns on this invention to the system for endoscopic surgery. It is the schematic which shows the example which applied the remote control system which concerns on this invention to the system for upper limb rehabilitation of a hemiplegic patient.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Operation part 2 Working part 3 Energy converter 31 1st converter 32 2nd converter 4 Power supply (external power supply)
5 Speed conversion mechanism

Claims (10)

An operating unit operated by an operator, a working unit provided at a position apart from the operating unit and operating in accordance with the operation of the operating unit, an energy converter connected to the operating unit and the working unit, respectively With
The energy converter includes: a first converter that converts mechanical energy input from the operation unit into electrical energy; and electrical energy obtained from the first converter is converted into mechanical energy to the working unit. With a second converter to communicate,
The first converter and the second converter are provided in one electrical circuit;
A remote operation system, wherein a force input to the operation unit and a force output from the working unit are in a proportional relationship.   2. The remote control system according to claim 1, further comprising energy supplementing means for compensating for energy loss consumed in the electric circuit. The energy replenishing means is
A sensor for measuring energy consumed in the electrical circuit;
The remote control system according to claim 2, further comprising: a power source that supplies power corresponding to energy equal to or less than an energy consumption amount measured by the sensor to the electric circuit. The energy replenishing means is
Measuring means for measuring the driving speed and / or displacement of the first converter and the second converter;
Deviation between the driving speed of the first converter and the driving speed of the second converter, the deviation of the displacement of the first converter and the displacement of the second converter, the driving speed of the first converter 3. A power supply for supplying electric power to the electric circuit so as to reduce any one of a deviation of the primary coupling of displacement, the driving speed of the second converter, and the deviation of the primary coupling of displacement. Remote control system. A speed conversion mechanism interposed between at least one of the operation unit and the first converter or between the working unit and the second converter;
2. The remote operation system according to claim 1, wherein the speed conversion mechanism increases a driving speed of the first converter and the second converter as compared with driving speeds of the operation unit and the working unit. .   The remote control system according to claim 1, wherein actuator coefficients of the first converter and the second converter are different.   The remote operation system according to claim 1, further comprising a visual sensor that allows the operator to visually recognize the working unit while operating the operation unit. A system used by inserting the working unit into a living body of a patient,
The operation unit and the working unit are connected by a thin tube,
The remote control system according to claim 1, wherein the working unit includes a micro blade for excising a tumor or the like. A system used for rehabilitation of hemiplegic patients,
The remote operation system according to claim 1, wherein the operation unit is attached to a healthy part of a patient, and the working unit is attached to an obstacle part of the patient.   The remote control system according to claim 1, wherein the energy converter is a DC motor.

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