JP2009262291A - Manipulator system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a manipulator system improved in operability. <P>SOLUTION: This manipulator system is equipped with: a manipulator 42d having a part to be operated 46 and a moving mechanism for moving the part to be operated 46; a rough movement operation device 53 performing an operational input for roughly moving the part to be operated 46; a fine movement operation device 56 performing an operational input for finely moving the part to be operated 46 and having a pressure sensing surface part 59 detecting a position where a pressure load is applied to the pressure sensing surface part 59; and a control unit 37 which so controls a moving mechanism that the part to be operated 46 is moved when the operational input is applied to the rough movement operation device 53 and that a variation in the position of the part to be operated 46 corresponds to a variation in the position where the pressure load is applied to the pressure sensing surface part 59. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a manipulator system.

  Patent Documents 1 and 2 disclose a manipulator system.

  Patent Document 1 discloses an electric treatment instrument as a manipulator. The electric treatment instrument has an elongated insertion portion that is inserted into a body cavity. In the insertion portion, a pair of forceps pieces, a bending portion that is operated to bend, and an insertion pipe are continuously provided from the distal end side to the proximal end side. A drive unit is connected to the proximal end portion of the insertion unit, and a joystick is disposed on the drive unit. The drive unit is connected to the controller. By operating the joystick, the drive unit is controlled by the controller, the bending unit is bent by the drive unit, and the pair of forceps pieces are moved.

  Patent Document 2 discloses an electric bending endoscope apparatus. The endoscope of the electric bending endoscope apparatus has an elongated insertion portion that is inserted into a body cavity, and a bending portion is disposed at a distal end portion of the insertion portion. A drive unit is coupled to the proximal end of the insertion portion, and the drive unit is connected to the control unit via a universal cord. An operation unit is connected to the control unit via a connection cord, and a joystick is disposed on the operation unit. By operating the joystick, the drive unit is controlled by the control unit, the bending portion is bent by the drive unit, and the distal end portion of the endoscope is moved.

  On the other hand, Patent Document 3 discloses a robot system.

In the robot system of Patent Document 3, an operation box is connected to the robot control device of the robot mechanism unit, and a robot teaching operation panel is connected to the operation box. A touch panel is disposed on the robot teaching operation panel. A teaching point is designated by touching the touch panel with a finger, and the robot mechanism is moved to the teaching point. It is also possible to move the teaching point by moving the finger while touching the touch panel, and to move the robot mechanism unit following the movement of the teaching point.
JP-A-8-224241 JP 2007-185385 A JP-A-9-85655

  In the manipulator systems of Patent Documents 1 and 2, since the pair of forceps pieces and the distal end portion of the endoscope are moved by operating the joystick, a fine moving operation is difficult.

  In the robot system of Patent Document 3, the robot mechanism unit is moved by operating the touch panel, but the movement operation is not particularly fine.

  The present invention has been made paying attention to the above problems, and an object thereof is to provide a manipulator system with improved operability.

  In the first embodiment of the present invention, the manipulator system includes a manipulator having a manipulated part and a moving mechanism for moving the manipulated part, and coarse motion capable of performing an operation input for roughly moving the manipulated part. An operation device and a fine movement operation device capable of performing an operation input for finely moving the operated portion, having a pressure-sensitive surface portion, and the pressure-sensitive surface portion can detect a pressure load position on the pressure-sensitive surface portion. The movement mechanism is controlled so that the operated portion is moved following the operation input to the fine movement operating device and the coarse movement operating device, and the pressure load position on the pressure-sensitive surface portion is changed. And a control device that controls the moving mechanism so that a change in the position of the operated portion corresponds.

  In a second embodiment of the present invention, the manipulator system further includes an endoscope and a display unit that displays an observation image obtained by the endoscope, and the control device is provided in the pressure-sensitive surface unit. The moving mechanism is controlled so that a change in the position of the operated portion in the observation image corresponds to a change in the pressure load position.

  In a third embodiment of the present invention, in the manipulator system, the display unit is formed integrally with the pressure-sensitive surface unit, and the observation image is displayed on the pressure-sensitive surface unit, and the control device includes the pressure-sensitive surface unit. The moving mechanism is controlled so that the position of the operated portion in the observation image corresponds to the pressure load position in the observation image.

  In a fourth embodiment of the present invention, the manipulator system includes at least a moving mechanism of the moving mechanism and the operating mechanism, and the fine motion operating device operates the input for operating the moving mechanism or the operating mechanism. An operation mechanism capable of operating, and the control device controls the movement mechanism or the operation mechanism so that the movement mechanism or the operation mechanism is operated following an operation on the operation mechanism. Features.

  In a fifth embodiment of the present invention, in the manipulator system, the operation mechanism includes a support mechanism that movably supports the pressure-sensitive surface portion, and a detection unit that detects an arrangement of the pressure-sensitive surface portion, The control device controls the moving mechanism or the operating mechanism so that the moving mechanism or the operating mechanism is operated following the movement of the pressure-sensitive surface portion based on a detection result by the detecting unit. And

  In a sixth embodiment of the present invention, the manipulator system further includes an endoscope and a display unit that displays an observation image obtained by the endoscope, and the support mechanism includes the pressure-sensitive surface unit. A tilt support mechanism that supports tilting; the detection unit includes a posture detection unit that detects a posture of the pressure-sensitive surface unit; and the control device detects a change in the pressure load position on the pressure-sensitive surface unit. The moving mechanism is controlled so that a change in the position of the operated part in the observed image corresponds, and the operated part is followed by a change in the attitude of the pressure-sensitive surface part based on a detection result by the attitude detecting part. The moving mechanism is controlled so that the posture of the part is changed.

  In a seventh embodiment of the present invention, the manipulator system includes an endoscope, an endoscope moving mechanism that forms the operating mechanism and moves the distal end portion of the endoscope, and an observation obtained by the endoscope. A display unit that displays an image, and the support mechanism includes a tilt support mechanism that supports the pressure-sensitive surface unit in a tiltable manner, and the detection unit detects an attitude of the pressure-sensitive surface unit. And a control unit that controls the movement mechanism so that a change in the position of the operated portion in the observation image corresponds to a change in the pressure load position in the pressure-sensitive surface portion, and the attitude The endoscope moving mechanism is controlled so that the visual field of the endoscope is moved following the change in the posture of the pressure-sensitive surface portion based on the detection result by the detection unit.

  In an eighth embodiment of the present invention, the manipulator system further includes an endoscope and a display unit that displays an observation image obtained by the endoscope, and the support mechanism includes the pressure-sensitive surface unit. It has a movement support mechanism that supports it so that it can move in a direction perpendicular to the pressure sensitive surface part, the detection part has a position detection part that detects the position of the pressure sensitive surface part, and the control device The moving mechanism is controlled so that a change in the position of the operated portion in the observation image corresponds to a change in the pressure load position in the surface portion, and the pressure-sensitive surface portion of the pressure-sensitive surface portion is based on a detection result by the position detection portion. The moving mechanism is controlled so that the operated portion is moved in the direction orthogonal to the observation image in the observation image following the movement in the direction orthogonal to the pressure-sensitive surface portion.

  In a ninth embodiment of the present invention, the manipulator system further includes an endoscope having a zoom mechanism that forms the operating mechanism, and a display unit that displays an observation image obtained by the endoscope. The support mechanism includes a movement support mechanism that supports the pressure-sensitive surface portion so as to be movable in a direction orthogonal to the pressure-sensitive surface portion, and the detection unit includes a position detection unit that detects the position of the pressure-sensitive surface portion. The control device controls the moving mechanism so that the change in the position of the operated portion in the observation image corresponds to the change in the pressure load position in the pressure-sensitive surface portion, and the movement of the pressure-sensitive surface portion. The zoom mechanism is controlled so that the zoom of the observation image is changed following the above.

  In a tenth embodiment of the present invention, the manipulator system includes an endoscope, an endoscope moving mechanism that forms the operating mechanism and moves the distal end portion of the endoscope, and an observation obtained by the endoscope. A display unit that displays an image, and the support mechanism includes a movement support mechanism that supports the pressure-sensitive surface unit so as to be movable in a direction orthogonal to the pressure-sensitive surface unit, and the detection unit includes the detection unit A position detection unit configured to detect a position of the pressure-sensitive surface unit, wherein the control device is configured such that a change in the position of the operated portion in the observation image corresponds to a change in the pressure load position in the pressure-sensitive surface unit. The internal mechanism is configured to control the moving mechanism and to move the distal end portion of the endoscope in the visual field direction of the endoscope following the movement of the pressure-sensitive surface portion based on the detection result by the posture detection unit. Control the endoscope movement mechanism And butterflies.

  In an eleventh embodiment of the present invention, in the manipulator system, the pressure-sensitive surface portion includes a fine movement operation region in which an operation input for finely moving the operated portion, and an operation operation region forming the operation mechanism. And the control device controls the moving mechanism or the operating mechanism so that the moving mechanism or the operating mechanism is operated following a change in the pressure load position in the operating operation region. And

  In a twelfth embodiment of the present invention, the manipulator system includes an endoscope, an endoscope moving mechanism that forms the operating mechanism and moves the distal end portion of the endoscope, and an observation obtained by the endoscope. And a display unit that displays an image, wherein the control device is configured so that a change in the position of the operated part in the observation image corresponds to a change in the pressure load position in the fine movement operation region. And controlling the endoscope moving mechanism so that the visual field of the endoscope is moved following the change in the pressure load position in the operation operation region.

  In the manipulator system according to the first embodiment of the present invention, by operating the coarse operation device, the operated part is moved following the operation input to the coarse operation device. By changing the pressure load position in the pressure sensitive surface portion of the operating device, the operated portion is moved so that the change in the position of the operated portion of the manipulator corresponds to the change in the pressure load position in the pressure sensitive surface portion. Since the operated part can be operated sensuously, a fine operation can be easily performed. Thus, the operability of the manipulator system is improved.

  In the manipulator system according to the second embodiment of the present invention, the operated part is moved so that the change in the position of the operated part in the observation image of the endoscope corresponds to the change in the pressure load position in the pressure-sensitive surface part. Thus, the operated part can be operated sensuously under endoscopic observation, and fine operations can be easily performed.

  In the manipulator system according to the third embodiment of the present invention, the observation image is displayed on the pressure-sensitive surface portion, and the operated portion is moved so that the position of the operated portion corresponds to the pressure load position on the pressure-sensitive surface portion. Therefore, the operated part can be directly operated.

  In the manipulator system of the fourth embodiment of the present invention, the fine movement operating device is provided with an operating mechanism for operating the moving mechanism or the operating mechanism in addition to the pressure-sensitive surface part for finely moving the operated part. A plurality of operations can be performed by a single fine operation device.

  In the manipulator system according to the fifth embodiment of the present invention, the operated portion can be moved by changing the pressure load position on the pressure sensitive surface portion, and the moving mechanism or the operating mechanism can be moved by moving the pressure sensitive surface portion. Since it can be operated, it is possible to easily perform a plurality of operations in parallel by a single fine movement operating device.

  In the manipulator system according to the sixth embodiment of the present invention, by tilting the pressure sensitive surface portion, the posture of the operated portion is changed following the change in the posture of the pressure sensitive surface portion. It is possible to intuitively perform the posture change operation of the part, and to operate the position and posture of the operated part in parallel.

  In the manipulator system according to the seventh embodiment of the present invention, the visual field of the endoscope is moved by following the change in the posture of the pressure sensitive surface portion by tilting the pressure sensitive surface portion. The field of view movement operation of the mirror can be performed intuitively, and it is possible to always operate the operated portion in an appropriate endoscope field of view.

  In the manipulator system according to the eighth embodiment of the present invention, by moving the pressure-sensitive surface portion in a direction orthogonal to the pressure-sensitive surface portion, the operated portion is orthogonal to the observation image in the observation image following the movement of the pressure-sensitive surface portion. Since it is moved in the direction, the operated part can be operated three-dimensionally, and the moving operation of the operated part can be performed intuitively.

  In the manipulator system according to the ninth embodiment of the present invention, the zoom of the observation image is changed following the movement of the pressure sensitive surface portion by moving the pressure sensitive surface portion in a direction orthogonal to the pressure sensitive surface portion. Therefore, the zoom change operation of the observation image can be performed intuitively, and the operated portion can be operated always under the appropriate zoom of the observation image.

  In the manipulator system according to the tenth embodiment of the present invention, by moving the pressure-sensitive surface portion in a direction orthogonal to the pressure-sensitive surface portion, the endoscope is advanced and retracted in the visual field direction following the movement of the pressure-sensitive surface portion. Since the zoom of the observation image is changed, the zoom change operation of the observation image can be performed intuitively, and the operated part can always be operated under the appropriate zoom of the observation image. It is possible.

  In the manipulator system according to the eleventh embodiment of the present invention, the operated portion can be moved by changing the pressure load position in the fine movement operation region of the pressure sensitive surface portion, and the pressure load in the operation operation region of the pressure sensitive surface portion. The moving mechanism or the operating mechanism can be operated by changing the position, and a plurality of operations can be performed only by the pressure-sensitive surface portion.

  In the manipulator system according to the twelfth embodiment of the present invention, the field of view of the endoscope is moved following the change in the pressure load position in the operation operation region, so that the manipulator system is always under an appropriate field position. The operated part can be operated.

  Embodiments of the present invention will be described below with reference to the drawings.

  1 to 4 show a first embodiment of the present invention.

  With reference to FIG.1 and FIG.2, schematic structure of a medical manipulator system is demonstrated.

  In the medical manipulator system, an active endoscope 22 is held by an endoscope holding device 21 so as to be movable and fixed. The endoscope 22 has an elongated endoscope insertion portion 23a that is inserted into a body cavity. In the endoscope insertion portion 23a, the distal end rigid portion 24, the endoscope bending portion 26a to be bent, and the long and flexible endoscope flexible tube portion 27a are connected from the distal end side to the proximal end side. It is installed. An endoscope driving unit 28a is connected to the proximal end portion of the endoscope insertion portion 23a. A universal cable 29 is extended from the endoscope drive unit 28 a, and the universal cable 29 is connected to the light source device 31 and the video processor 32. The illumination light generated by the light source device 31 is guided through a light guide inserted through the endoscope 22 and irradiated from the illumination optical system in the distal end rigid portion 24 to the observation target. An imaging unit 25 having a zoom mechanism 30 is disposed in the distal end rigid portion 24, and an observation image is captured by the imaging unit 25 to generate an image signal. The image signal is transmitted through the imaging cable inserted through the endoscope 22 and output to the video processor 32. The video processor 32 displays an observation image on a display screen 33 as a display unit. Also, an endoscope angle wire for bending the endoscope bending portion 26a is inserted from the endoscope bending portion 26a into the endoscope insertion portion 23a and introduced into the endoscope driving unit 28a. It is connected to the endoscope drive unit 36a in the mirror drive unit 28a. The endoscope bending section 26a is bent by moving the endoscope angle wire forward and backward by the endoscope driving section 36a. In addition, the endoscope insertion portion 23a is advanced and retracted in the longitudinal axis direction of the endoscope insertion portion 23a by the endoscope driving portion 36a.

  The endoscope drive unit 28 a is connected to a control unit 37 as a control device disposed in the endoscope holding device 21. A joystick type operation device 38 is connected to the control unit 37. The joystick type operating device 38 is provided with a moving joystick 39a for moving the distal end portion of the endoscope 22, and a zoom joystick 39b for adjusting the zoom of the observation image. By operating the moving joystick 39a, the endoscope control unit 41a in the control unit 37 controls the endoscope drive unit 36a in the endoscope drive unit 28a, and the endoscope drive unit 36a controls the endoscope. The insertion portion 23a is moved back and forth, the endoscope bending portion 26a is bent, and the distal end portion of the endoscope 22 is moved. Further, by operating the zoom joystick 39b, the endoscope control unit 41a operates the zoom mechanism 30 of the imaging unit 25 in the distal end rigid portion 24, and the zoom of the observation image is changed.

  A forceps channel for inserting the forceps manipulator 42c and the treatment instrument manipulator 42d and the treatment instrument channel are extended over the entire length of the endoscope insertion portion 23a. The distal ends of the forceps channel and the treatment instrument channel are opened at the distal end rigid portion 24 to form a forceps protrusion and a treatment instrument protrusion. The proximal end portions of the forceps channel and the treatment instrument channel are connected to the forceps base and the treatment tool base disposed at the proximal end portion of the endoscope insertion portion 23a.

  The forceps manipulator 42c of the medical manipulator system has a forceps insertion portion 23c that is inserted into a body cavity. In the forceps insertion portion 23c, a grasping portion 44 that grasps a living tissue by being opened and closed, a forceps bending portion 26c that is bent and a long and flexible forceps flexible tube portion 27c from the distal end side to the proximal end side. It is connected with. The forceps insertion portion 23 c is inserted into the forceps channel of the endoscope 22, and the distal end portion of the forceps insertion portion 23 c can protrude and retract from the forceps projection port of the distal end rigid portion 24 of the endoscope 22. A proximal end portion of the forceps insertion portion 23 c is connected to a forceps drive unit 28 c disposed in the endoscope holding device 21. Further, a forceps operation wire for opening and closing the gripping portion 44 and a forceps angle wire for bending the forceps bending portion 26c are inserted from the gripping portion 44 and the forceps bending portion 26c into the forceps insertion portion 23c, respectively. It is introduced into the drive unit 28c and connected to the forceps drive unit 36c in the forceps drive unit 28c. By moving the forceps operation wire and forceps angle wire forward and backward by the forceps driving portion 36c, the grip portion 44 is opened and closed, and the forceps bending portion 26c is bent. Further, the forceps driving portion 36c causes the forceps insertion portion 23c to advance and retract in the longitudinal axis direction of the forceps insertion portion 23c. The forceps drive unit 28 c is connected to the control unit 37.

  The treatment instrument manipulator 42d of the medical manipulator system has a treatment instrument insertion portion 23d that is inserted into the body cavity. In the treatment instrument insertion section 23d, a high-frequency current is applied to the living tissue to contact the living tissue, and the treatment section bending section 26d similar to the forceps bending section 26c and the forceps flexible tube section 27c is cut through the living tissue. The treatment instrument flexible tube portion 27d is connected from the distal end side to the proximal end side. The treatment instrument insertion portion 23d is inserted into the treatment instrument channel, and the distal end portion of the treatment instrument insertion portion 23d can be protruded and retracted from the treatment instrument protrusion. Further, the proximal end portion of the treatment instrument insertion portion 23d is connected to a treatment instrument drive unit 28d disposed in the endoscope holding device 21. A treatment instrument sheath 47 extends from the proximal end portion of the treatment instrument insertion portion 23 d, and a treatment instrument operation portion 45 is connected to the proximal end portion of the treatment instrument sheath 47. An energization wire for energizing the electrode section 46 with a high-frequency current is inserted from the electrode section 46 into the treatment instrument insertion section 23 d and the treatment instrument sheath 47 and introduced into the treatment instrument operation section 45. An electrical contact portion 48 projects from the treatment instrument operation portion 45, and the proximal end portion of the energization wire is electrically connected to the inner end portion of the electrical contact portion 48. The electrical contact portion 48 is connected to the high frequency output device 51 via an electrical cable 49. A foot switch 50 is connected to the high-frequency output device 51. By depressing the foot switch 50, a high frequency current is supplied from the high frequency output device 51 to the electrode portion 46 via the electric cable 49, the electric contact portion 48, and the energization wire. Further, a treatment instrument angle wire for bending the treatment instrument bending section 26d is inserted from the treatment instrument bending section 26d into the treatment instrument insertion section 23d and introduced into the treatment instrument drive unit 28d. It is connected to the treatment instrument drive part 36d as a moving mechanism. The treatment instrument bending section 26d is bent by operating the treatment instrument angle wire forward and backward by the treatment instrument drive section 36d. Further, the treatment instrument insertion portion 23d is moved forward and backward in the longitudinal axis direction of the treatment instrument insertion portion 23d by the treatment instrument drive portion 36d. The treatment instrument drive unit 28 d is connected to the control unit 37.

  The control unit 37 is connected to an arm type operation device 53 as a coarse operation device. The arm-type operating device 53 includes a forceps master arm 54c and a treatment tool master arm 54d having the same degrees of freedom as the forceps manipulator 42c and the treatment tool manipulator 42d. Following the operation input to the forceps master arm 54c, the forceps drive section 36c in the forceps drive unit 28c is controlled by the forceps control section 41c in the control unit 37, and the forceps insertion section 23c is advanced and retracted by the forceps drive section 36c. When the forceps bending portion 26c is bent, the grip portion 44 is moved, and the grip portion 44 is opened and closed. Further, following the operation input to the treatment instrument master arm 54d, the treatment instrument drive unit 36d in the treatment instrument drive unit 28d is controlled by the treatment instrument control unit 41d in the control unit 37, and the treatment instrument drive unit 36d performs treatment. The instrument insertion portion 23d is moved forward and backward, the treatment instrument bending portion 26d is bent, and the electrode portion 46 is moved.

  Further, the control unit 37 is connected with a touch pad type operating device 56 as a fine motion operating device. In the touch pad type operation device 56, the support column 57 is placed on the floor or the like and extends in the vertical direction. An operation panel 58 is coupled to the top of the support column 57, and a touch pad 59 as a pressure-sensitive surface is mounted on the top surface of the operation panel 58. Following the operation input to the touch pad 59, the treatment instrument drive section 36d is controlled by the treatment instrument control section 41d, the treatment instrument insertion section 23d is advanced and retracted by the treatment instrument drive section 36d, and the treatment instrument bending section 26d is curved. Actuated, the electrode part 46 is moved.

  The control unit 37 is connected to a personal computer 61 that performs various arithmetic processes.

  With reference to FIG.3 and FIG.4, fine movement operation of the treatment tool manipulator 42d by the touchpad type operating device 56 will be described in detail.

  An input coordinate system is defined for the touch pad 59 of the touch pad type operation device 56. That is, when the operator touches the touch pad 59, the rightward direction in the left-right direction is the positive direction in the X-axis direction, and the upward direction in the vertical direction with respect to the left-right direction is the positive direction in the Y-axis direction. The direction perpendicular to the touch pad 59 and facing inward is the positive direction in the Z-axis direction. Further, an observation coordinate system is defined for the display screen 33 of the display device. That is, on the display screen 33 of the display device, when facing the operator, the rightward direction in the left-right direction is the positive direction in the X-axis direction, and the upward direction in the vertical direction with respect to the left-right direction is the Y-axis. The direction is a positive direction, and the direction that is orthogonal to the display screen 33 and that is in the back direction is the positive direction in the Z-axis direction.

  The touch pad 59 can detect the pressure load position on the touch pad 59. When a pressure is applied to the touch pad 59, the treatment instrument control unit 41d associates the pressure load position with the position of the distal end portion of the electrode unit 46 as the operated part of the treatment instrument manipulator 42d. The treatment instrument control unit 41d is configured so that the change in the position of the tip of the electrode unit 46 in the XY direction in the observation image 34 corresponds to the change in the pressure load position in the XY direction on the touch pad 59. The tip of the electrode part 46 is moved by controlling 36d. When the pressure load on the touch pad 59 is released, the treatment instrument control unit 41d releases the association between the pressure load position and the position of the tip of the electrode unit 46.

  Next, the usage method of the medical manipulator system of this embodiment is demonstrated.

  In the following, an explanation will be given by taking as an example a treatment for detaching a living tissue under endoscopic observation.

  When using the medical manipulator system, the endoscope 22 is inserted into a body cavity. Then, by operating the joystick type operation device 38 for moving and zooming joysticks 39a and 39b to move the distal end portion of the endoscope 22, the field of view of the endoscope 22 is a position suitable for observing and treating the affected area. Further, the zoom mechanism 30 of the endoscope 22 is operated to adjust the zoom of the observation image 34 to a zoom suitable for observation and treatment. An observation image 34 of the endoscope 22 is displayed on the display screen 33. Subsequently, the forceps manipulator 42c and the treatment tool manipulator 42d are projected from the forceps protrusion and the treatment tool protrusion of the distal end rigid portion 24 of the endoscope 22. Then, while observing the observation image 34, the forceps master arm 54c and the treatment instrument master arm 54d of the arm-type operation device 53 are operated to move, open and close the grasping portion 44 of the forceps manipulator 42c, and to peel the biological tissue. The foot switch 50 is appropriately operated to apply a high-frequency current to the electrode portion 46 while moving the electrode portion 46 of the treatment instrument manipulator 42d so as to contact the living tissue. The living tissue is incised, and the part to be peeled is peeled off.

  When performing a particularly fine incision by the treatment instrument manipulator 42d, the touch pad 59 of the touch pad operation apparatus 56 is operated instead of the treatment instrument master arm 54d of the arm operation apparatus 53. That is, as indicated by arrows I1 and M1 in FIGS. 3 and 4, in a state where the fingertip is pressed against the touchpad 59, the touchpad 59 is viewed on the display screen 33 and the fingertip is desired to move the electrode unit 46. , The tip of the electrode part 46 is moved so that the change in the position of the tip of the electrode part 46 in the observation image 34 corresponds to the change in the position of the fingertip on the touch pad 59. The living tissue is incised. Unless the fingertip is separated from the touch pad 59, the movement of the tip portion of the electrode portion 46 due to the movement of the fingertip is continued. When the fingertip reaches the peripheral edge of the touch pad 59 in the middle of the incision, the fingertip is once separated from the touchpad 59, and the fingertip is pressed against the central portion of the touchpad 59 again to perform the incision. continue.

Therefore, the medical manipulator system of this embodiment has the following effects.
In the medical manipulator system of the present embodiment, by operating the treatment instrument master arm 54d of the arm type operation device 53, the operation input to the treatment instrument master arm 54d is followed, and the electrode portion 46 of the treatment instrument manipulator 42d is operated. The tip end portion is moved, and the tip end of the electrode portion 46 is affected by the change in the pressure load position on the touch pad 59 by changing the pressure load position on the touch pad 59 of the touch pad type operation device 56. The tip of the electrode part 46 is moved so that the change of the position of the part corresponds, and the tip of the electrode part 46 can be manipulated sensibly, so that a fine operation can be easily performed. It is possible. Thus, the operability of the medical manipulator system is improved.

  5 to 6B show a second embodiment of the present invention.

  With reference to FIG. 5, in the present embodiment, a touch pad type tilting operation device 62 is used as the fine movement operation device. In the touch pad type tilting operation device 62, the base portion of the tilting arm portion 65 is connected to the top portion of the support column 63 on the base side through the ball joint 64 in the support column portion 57. The tilting arm portion 65 can be tilted in any direction with respect to the column 63. Here, the position of the tilting arm portion 65 when the tilting arm portion 65 extends in the longitudinal axis direction of the column 63 and is arranged in the vertical direction is referred to as a vertical position. The tilting arm portion 65 is constantly urged to the vertical position. An operation panel 58 is connected to the top of the tilting arm portion 65 so as to be orthogonal to the longitudinal axis direction of the tilting arm portion 65. As described above, the ball joint 64, the tilt arm portion 65, and the operation panel 58 form a tilt support mechanism that supports the touch pad so as to be tiltable. The operation panel 58 incorporates an inclination detection device 66 as an attitude detection unit such as a three-dimensional motion sensor. The tilt detection device 66 can detect the tilt of the touch pad 59. That is, the position of the touch pad 59 when the tilting arm portion 65 is disposed at the vertical position is set as a reference position, and the tilt detection device 66 is provided for each axis of the input coordinate system when the touch pad 59 is at the reference position. The tilt of each axis of the input coordinate system when the touch pad 59 is tilted is detected.

  With reference to FIGS. 5 to 6B and FIG. 4, an output coordinate system is defined for the endoscope 22. That is, the rightward direction in the left-right direction of the visual field of the endoscope 22 is the positive direction in the X-axis direction, the upward direction in the vertical direction is the positive direction in the Y-axis direction, and the visual field direction is in the Z-axis direction. Positive direction.

  The treatment instrument control unit 41d controls the treatment instrument drive unit 36d as in the first embodiment to move the distal end portion of the electrode unit 46. Furthermore, when pressure is applied to the touch pad 59, the treatment instrument control unit 41d tilts each axis of the input coordinate system with respect to the reference position and tilts the longitudinal axis of the electrode unit 46 with respect to each axis of the output coordinate system. Is associated. When the touch pad 59 is tilted, the treatment instrument control unit 41d changes the inclination of each axis of the input coordinate system of the touch pad 59 to the inclination of the longitudinal axis of the electrode unit 46 with respect to each axis of the output coordinate system. The treatment instrument drive unit 36d is controlled to change the posture of the electrode unit 46 so that the change corresponds. When the pressure load on the touch pad 59 is released, the treatment instrument control unit 41d determines the inclination of each axis of the input coordinate system with respect to the reference position and the longitudinal axis of the electrode unit 46 with respect to each axis of the output coordinate system. Release the association with the tilt. When the pressure is not applied to the touch pad 59, the treatment instrument control unit 41d stops the treatment instrument drive unit 36d regardless of the tilt accompanying the return of the touch pad 59 to the reference position, and the electrode unit 46 Do not change posture.

  When the medical manipulator is used, as in the first embodiment, as shown by arrows I1 and M1 in FIGS. 5 and 4, the electrode tip is moved by moving the fingertip while pressing the touch pad 59. The tip of the portion 46 is moved. Further, as indicated by arrows I2 and M2 in FIGS. 5 to 6B, in a state where the touch pad 59 is pressed with the fingertip, the touchpad 59 is viewed on the display screen 33, and the electrode portion 46 is moved with the touchpad 59 by the fingertip. By tilting in the direction to be tilted, the electrode portion 46 is tilted in a desired direction. In this way, the incision is performed by changing the position of the tip of the electrode portion 46 and the posture of the electrode portion 46 in parallel.

Therefore, the medical manipulator system of this embodiment has the following effects.
In the medical manipulator system of the present embodiment, the tip portion of the electrode unit 46 can be moved by changing the pressure load position on the touch pad 59, and the electrode unit 46 can be tilted by tilting the touch pad 59. Therefore, it is possible to easily perform a plurality of operations in parallel by the single touch pad type tilting operation device 62. In particular, by tilting the touch pad 59, the posture of the electrode unit 46 is changed following the change in the posture of the touch pad 59, so the posture change operation of the electrode unit 46 is performed intuitively. It is possible.

  FIG. 7 shows a third embodiment of the present invention.

  With reference to FIG. 5, in this embodiment, the touchpad type tilting operation device 62 similar to that of the second embodiment is used as the fine movement operation device.

  5 and 7, the treatment instrument control unit 41d controls the treatment instrument drive unit 36d as in the first embodiment to move the distal end portion of the electrode unit 46. Furthermore, when pressure is applied to the touch pad 59, the endoscope control unit 41a associates the input coordinate system with the output coordinate system. When the touch pad 59 is tilted, the endoscope control unit 41a changes the inclination of the XY axis of the input coordinate system of the touch pad 59 to the viewing direction of the endoscope 22 in the XY direction of the output coordinate system. The endoscope driving unit 36a as an operation mechanism is controlled so as to correspond to the change in the position of the endoscope 22, and the arrangement of the distal end portion of the endoscope 22 is changed to change the visual field direction of the endoscope 22. When the pressure load on the touch pad 59 is released, the endoscope control unit 41a releases the association between the input coordinate system and the output coordinate system. When pressure is not applied to the touch pad 59, the endoscope control unit 41a stops the endoscope driving unit 36a regardless of the tilt of the touch pad 59 accompanying the return of the touch pad 59 to the reference position. Then, the arrangement of the distal end portion of the endoscope 22 is not changed, and the visual field direction of the endoscope 22 is not changed.

  When using the medical manipulator system, as indicated by arrows I1 and M1 in FIGS. 5 and 7, as in the first embodiment, by moving the fingertip while pressing the touch pad 59, The tip of the electrode part 46 is moved. When the visual field of the endoscope 22 becomes unsuitable for observation and treatment due to the movement of the electrode unit 46, etc., the touch pad 59 is moved with the fingertip as shown by arrows I2 and M2 ′ in FIGS. In a pressed state, the touch pad 59 is regarded as the display screen 33, and the touch pad 59 is tilted in a direction in which the visual field of the endoscope 22 is desired to be moved by a fingertip, so that the visual field of the endoscope 22 is moved to a desired direction. Moved. After adjusting the visual field of the endoscope 22 to be suitable for observation and treatment, the fingertip is moved away from the touch pad 59 to return the touch pad 59 to the reference position, and the tip of the electrode unit 46 is again touched by the touch pad 59. Move the part. Alternatively, after the touch pad 59 is tilted, the state in which the touch pad 59 is pressed is maintained, and the touch pad 59 is appropriately tilted to move the field of view of the endoscope 22 while the touch pad 59 is pressed. You may make it move the front-end | tip part of the electrode part 46 by moving a fingertip.

Therefore, the medical manipulator system of this embodiment has the following effects.
In the medical manipulator system of this embodiment, the visual field of the endoscope 22 is moved by following the change in the posture of the touch pad 59 by tilting the touch pad 59. The visual field movement operation of 22 can be performed intuitively, and observation and treatment can always be performed in the optimal visual field of the endoscope 22.

  FIG. 8 shows a fourth embodiment of the present invention.

  Referring to FIG. 8, in this embodiment, a touch pad type sliding operation device 67 is used as the fine movement operation device. In the touch pad type sliding operation device 67, an operation panel 58 is disposed on a slide guide 68 so as to be slidable in the Z-axis direction of the input coordinate system. The touch pad 59 is movable with respect to the slide guide 68 in the Z-axis direction of the input coordinate system together with the operation panel 58. As described above, the slide guide 68 and the operation panel 58 form a movement support mechanism that supports the touch pad 59 in a movable manner. The operation panel 58 is biased in a negative direction in the Z-axis direction of the input coordinate system by a biasing member 69 such as a spring. The slide guide 68 is provided with a stopper 71, and the operation panel 58 is brought into contact with the stopper 71 and positioned at the restriction position. The position of the touch pad 59 when the operation panel 58 is disposed at the restriction position is referred to as a reference position of the touch pad 59. The touch pad type sliding operation device 67 includes a position detection device 70 as a position detection unit. The position detection device 70 detects the position of the touch pad 59 with respect to the reference position by detecting the position of the operation panel 58 with respect to the restriction position in the Z-axis direction of the input coordinate system.

  With reference to FIGS. 8 and 4, the treatment instrument control unit 41 d controls the treatment instrument drive unit 36 d as in the first embodiment, and moves the distal end portion of the electrode unit 46. Further, when pressure is applied to the touch pad 59, the treatment instrument control unit 41d positions the touch pad 59 in the Z-axis direction of the input coordinate system and the electrode unit 46 in the Z-axis direction of the output coordinate system. Correlate with the position of the tip. The treatment instrument control unit 41d is configured so that the change in the position of the tip of the electrode unit 46 in the Z-axis direction of the output coordinate system corresponds to the change in the position of the touch pad 59 in the Z-axis direction of the input coordinate system. The treatment instrument control unit 41d is controlled to move the tip of the electrode unit 46. When the pressure load on the touch pad 59 is released, the treatment instrument control unit 41d detects the position of the touch pad 59 in the Z-axis direction of the input coordinate system and the electrode unit in the Z-axis direction of the output coordinate system. The association with the position of the tip 46 is released. When the pressure is not applied to the touch pad 59, the treatment instrument control unit 41d stops the treatment instrument drive unit 36d regardless of the movement of the touch pad 59 accompanying the return of the touch pad 59 to the reference position, The tip of the electrode part 46 is not moved in the Z-axis direction of the output coordinate system.

  When using the medical manipulator system, as shown by arrows I1 and I3 in FIG. 8, the touch pad 59 is viewed on the display screen 33 with the fingertip pressed against the touchpad 59, and the fingertip is placed on the electrode unit. 46 is moved three-dimensionally in the direction of movement. At this time, the touch pad 59 is moved following the fingertip in the Z-axis direction of the input coordinate system. As a result, as indicated by the arrow M1 in FIG. 4, the change in the position of the fingertip on the touch pad 59 in the XY directions of the input coordinate system and the observation coordinate system is caused by The electrode unit 46 is adapted so that the change corresponds, and the change in the position of the tip of the electrode unit 46 corresponds to the change in the position of the touch pad 59 in the Z-axis direction of the input coordinate system and the output coordinate system. The tip of is moved. Unless the fingertip is separated from the touch pad 59, the movement of the tip portion of the electrode portion 46 due to the movement of the fingertip is continued. When the fingertip reaches the peripheral edge of the touch pad 59, the fingertip is once separated from the touchpad 59, and the fingertip is pressed against the center portion of the touchpad 59 again.

Therefore, the medical manipulator system of this embodiment has the following effects.
In the medical manipulator system of the present embodiment, the tip of the electrode portion 46 of the treatment instrument manipulator 42d is perpendicular to the observation image 34 in the observation image 34 by moving the touch pad 59 in the direction perpendicular to the touch pad 59. Therefore, the tip end portion of the electrode portion 46 can be operated in a three-dimensional manner, and the movement operation of the tip end portion of the electrode portion 46 can be performed intuitively.

  9 and 10 show a fifth embodiment of the present invention.

  Referring to FIG. 9, in the present embodiment, a touch panel type composite operation device 72 is used as the fine movement operation device. The touch panel type composite operation device 72 uses a touch panel 73 as a pressure-sensitive surface portion and a display portion in place of the touch pad 59 in the touch pad type operation device 56 of the first embodiment. Furthermore, on the touch panel 73, the observation image 34 of the endoscope 22 is displayed in a central circular area. In the touch panel 73, an electrode operation area 74a as a fine movement operation area is formed by a central circular area where the observation image 34 of the endoscope 22 is displayed, and the peripheral area where the observation image 34 of the endoscope 22 is not displayed. A visual field operation region 74b as an operation operation region is formed.

  Referring to FIGS. 9, 10, and 7, the treatment instrument control unit 41 d includes the pressure load position in the electrode operation region 74 a and the distal end of the electrode unit 46 of the treatment instrument manipulator 42 d in the observation image 34 of the electrode operation region 74 a. The distal end portion of the electrode portion 46 is moved by controlling the treatment instrument driving portion 36d so that the position of the portion matches. In addition, when pressure is applied to the visual field operation region 74b, the endoscope control unit 41a associates the pressure load position with the visual field position of the endoscope 22. The endoscope control unit 41a performs endoscopy so that the change in the visual field position of the endoscope 22 in the XY axis direction of the output coordinate system corresponds to the change in the pressure load position in the XY axis direction of the input coordinate system. The mirror driving unit 36 a is controlled to change the arrangement of the distal end portion of the endoscope 22 and change the visual field position of the endoscope 22. When the pressure load on the visual field operation region 74b is released, the endoscope control unit 41a releases the association between the pressure load position and the visual field position of the endoscope 22. Note that the treatment instrument control unit 41d and the endoscope control unit 41a have the treatment instrument drive unit 36d and the endoscope drive when the pressure load position exists in both the electrode operation region 74a and the visual field operation region 74b. The portion 36a is stopped, the distal end portion of the electrode portion 46 is not moved, and the arrangement of the distal end portion of the endoscope 22 is not changed.

  When using the medical manipulator system, while observing the observation image 34 of the electrode operation area 74a of the touch panel 73, the fingertip is pressed to a position where the tip of the electrode part 46 is to be moved in the electrode operation area 74a. The electrode unit 46 is moved so that the position of the tip of the electrode unit 46 matches the position of the fingertip in the electrode operation region 74a. Subsequently, as indicated by arrows I1 and M1 in FIGS. 10 and 7, while observing the observation image 34 of the electrode operation region 74a, the fingertip is pressed against the electrode operation region 74a with the fingertip. When the tip of the electrode part 46 is moved in the direction in which it is desired to move, the electrode part 46 is moved so as to follow the movement of the fingertip in the electrode operation region 74a. When the visual field of the endoscope 22 becomes unsuitable for observation and treatment due to the movement of the electrode unit 46, the fingertip is separated from the electrode operation area 74a and pressed to the visual field operation area 74b. Subsequently, as indicated by arrows I4 and M2 ′ in FIGS. 10 and 7, the fingertip is moved in the direction in which the visual field is moved in the visual field operation area 74b while the visual field operation area 74b is pressed with the fingertip. The field of view of the endoscope 22 is moved in a desired direction. After adjusting the visual field of the endoscope 22 to be suitable for observation and treatment, the fingertip is separated from the visual field operation region 74b and pressed against the electrode operation region 74a, and the fingertip is moved in the electrode operation region 74a to The tip of the portion 46 is moved.

  Therefore, the medical manipulator system of this embodiment has the following effects.

  In the medical manipulator system of the present embodiment, the observation image 34 is displayed on the touch panel 73, and the distal end portion of the electrode portion 46 is moved so that the position of the distal end portion of the electrode portion 46 corresponds to the pressure load position on the touch panel 73. Therefore, direct manipulation of the tip of the electrode portion 46 is possible.

  Further, by changing the pressure load position in the electrode operation area 74 a of the touch panel 73, the tip of the electrode portion 46 can be moved, and by changing the pressure load position in the visual field operation area 74 b of the touch panel 73. The field of view of the endoscope 22 can be moved, and a plurality of operations can be performed only by the touch panel 73. For this reason, the configuration of the touch panel type composite operation device 72 is simplified.

  FIG. 11 shows a sixth embodiment of the present invention.

  Referring to FIG. 11, in this embodiment, a touch panel type sliding operation device 76 is used as the fine movement operation device. The touch panel type sliding operation device 76 uses a touch panel 73 similar to that of the fifth embodiment in place of the touch pad 59 in the touch pad type sliding operation device 67 of the fourth embodiment.

  Referring to FIG. 11, FIG. 10 and FIG. 7, the treatment instrument control unit 41d and the endoscope control unit 41a are arranged in the same manner as in the operation in the electrode operation region 74a and the visual field operation region 74b in the fifth embodiment. The distal end portion of the portion 46 is moved to change the visual field position of the endoscope 22. In addition, when pressure is applied to the touch panel 73, the endoscope control unit 41 a uses the position of the touch panel 73 in the Z-axis direction of the input coordinate system and the zoom mechanism 30 as the operation mechanism of the endoscope 22. The zoom of the observation image 34 is associated. The endoscope control unit 41a controls the endoscope control unit 41a so that the change in the zoom of the observation image 34 corresponds to the change in the position of the touch pad 59 in the Z-axis direction of the input coordinate system. The zoom mechanism 30 is activated. In the present embodiment, the observation image 34 is enlarged by moving the touch panel 73 in the positive direction in the Z-axis direction, and the observation image 34 is reduced by moving the touch panel 73 in the negative direction in the Z-axis direction. The When the pressure load on the touch panel 73 is released, the endoscope control unit 41a corresponds to the position of the touch panel 73 in the Z-axis direction of the input coordinate system and the zoom of the observation image 34 by the zoom mechanism 30. Remove the attachment. When pressure is not applied to the touch panel 73, the endoscope control unit 41a stops the zoom mechanism 30 regardless of the movement of the touch pad 59 accompanying the return of the touch pad 59 to the reference position, and the observation image The zoom of 34 is not changed.

  When the medical manipulator system is used, as in the fifth embodiment, as shown by arrows I1, I4, M1, M2 ′ in FIGS. While the operation area 74b is pressed, the fingertip is moved in the XY axis direction of the input coordinate system on the touch panel 73 to move the distal end portion of the electrode unit 46, and the visual field position of the endoscope 22 is changed. When it is desired to observe the treatment area in more detail as the treatment progresses, the touch panel 73 is pressed in the Z-axis direction of the input coordinate system as indicated by an arrow I3 in FIG. The observation image 34 is enlarged by moving in the positive direction. When the observation image 34 is adjusted to an appropriate zoom, after the fingertip is separated from the touch panel 73 and the touch panel 73 is returned to the reference position, the distal end portion of the electrode unit 46 is moved again by the touch panel 73 and the endoscope 22 is moved. Change the visual field position. Alternatively, while the touch panel 73 is pressed, the touch panel 73 is appropriately moved in the Z-axis direction of the input coordinate system to adjust the zoom, and the fingertip is moved in the XY-axis direction of the input coordinate system on the touch panel 73 to The visual field position of the endoscope 22 may be changed by moving the distal end portion of the portion 46.

Therefore, the medical manipulator system of this embodiment has the following effects.
In the medical manipulator system according to the present embodiment, the zoom of the observation image 34 is changed by moving the touch panel 73 in a direction orthogonal to the touch panel 73. Thus, observation and treatment can always be performed with the zoom of the optimal observation image 34.

  In the sixth embodiment described above, the zoom of the observation image 34 is adjusted by operating the zoom mechanism 30 of the endoscope 22, but the endoscope driving unit 36a as the operation mechanism is operated, The zoom of the observation image 34 may be adjusted by moving the distal end portion of the endoscope 22 in the visual field direction of the endoscope 22. In this case, the forceps control unit 41c and the treatment tool control unit 41d use the forceps drive unit 36c and the treatment tool drive unit so that the positions of the forceps manipulator 42c and the treatment tool manipulator 42d do not change even when the endoscope 22 moves. 36d is controlled.

  In each of the embodiments described above, the electrode part of the treatment instrument manipulator is operated, but a puncture needle or the like may be operated instead of the electrode part.

  The manipulator system of the present invention is not limited to medical use, and can be applied to various uses such as industrial use, space use, and deep sea use.

The perspective view which shows the medical manipulator system of 1st Embodiment of this invention. The block diagram which shows the medical manipulator system of 1st Embodiment of this invention. The perspective view which shows the touchpad type operating device of 1st Embodiment of this invention. The figure which shows the display screen of 1st Embodiment of this invention. The perspective view which shows the touchpad type tilting operation apparatus of 2nd Embodiment of this invention. The schematic diagram which shows the attitude | position change operation of the treatment tool manipulator of 2nd Embodiment of this invention in the state before a change. The schematic diagram which shows the attitude | position change operation of the treatment tool manipulator of 2nd Embodiment of this invention in the state after a change. The figure which shows the display screen of 3rd Embodiment of this invention. The perspective view which shows the touchpad type sliding operation apparatus of 4th Embodiment of this invention. The perspective view which shows the touchscreen type composite operating device of 5th Embodiment of this invention. The schematic diagram which shows the touchscreen of 5th Embodiment of this invention. The perspective view which shows the touchscreen type sliding operation apparatus of 6th Embodiment of this invention.

Explanation of symbols

  22 ... Endoscope, 30; 36a ... Actuation mechanism, 30 ... Zoom mechanism, 36a ... Endoscope driving unit, 33; 73 ... Display unit, 33 ... Display screen, 73 ... Touch panel, 34 ... Observation image, 36d ... Movement Mechanism (treatment instrument drive unit), 37 ... control device (control unit), 42 d ... manipulator (treatment instrument manipulator), 46 ... operated part (electrode part), 53 ... coarse motion operation device (arm type operation device), 56 62; 67; 72; 76 ... fine movement operating device, 56 ... touch pad type operating device, 62 ... touch pad type tilting operating device, 67 ... touch pad type sliding operating device, 72 ... touch panel type compound operating device, 76 ... Touch panel type sliding operation device, 59; 73 ... Pressure-sensitive surface portion, 59 ... Touch pad, 73 ... Touch panel, 58, 64, 65, 66; 58, 68, 70 ... Operation mechanism, 58, 64, DESCRIPTION OF SYMBOLS 5 ... Tilt support part, 58 ... Operation panel, 64 ... Ball joint, 65 ... Tilt arm part, 66 ... Posture detection part (tilt detection apparatus), 58, 68 ... Movement support mechanism, 58 ... Operation panel, 68 ... Slide guide , 70 ... Position detection device (position detection unit), 74a ... Fine movement operation area (electrode operation area), 74b ... Operation operation area (visual field operation area).

Claims (12)

A manipulator having an operated part and a moving mechanism for moving the operated part;
A coarse operation device capable of performing an operation input for coarse movement of the operated portion;
A fine movement operation device capable of performing an operation input for finely moving the operated portion, having a pressure-sensitive surface portion, and the pressure-sensitive surface portion can detect a pressure load position on the pressure-sensitive surface portion. Equipment,
The moving mechanism is controlled so that the operated portion is moved following the operation input to the coarse operation device, and the position of the operated portion is changed according to the change in the pressure load position on the pressure sensitive surface portion. A control device for controlling the moving mechanism so that the change corresponds;
A manipulator system comprising: The manipulator system further includes an endoscope, and a display unit that displays an observation image obtained by the endoscope,
The control device controls the moving mechanism such that a change in the position of the operated portion in the observation image corresponds to a change in the pressure load position in the pressure-sensitive surface portion.
The manipulator system according to claim 1. The display unit is formed integrally with the pressure-sensitive surface unit, and displays the observation image on the pressure-sensitive surface unit.
The control device controls the moving mechanism so that the position of the operated portion in the observation image corresponds to the pressure load position in the pressure-sensitive surface portion.
The manipulator system according to claim 2. The manipulator system includes at least a moving mechanism of the moving mechanism and the operating mechanism,
The fine movement operation device has an operation mechanism capable of an operation input for operating the moving mechanism or the operation mechanism,
The control device controls the moving mechanism or the operating mechanism so that the moving mechanism or the operating mechanism is operated following an operation on the operating mechanism.
The manipulator system according to claim 1. The operation mechanism includes a support mechanism that movably supports the pressure-sensitive surface portion, and a detection unit that detects the arrangement of the pressure-sensitive surface portion.
The control device controls the moving mechanism or the operating mechanism so that the moving mechanism or the operating mechanism is operated following the movement of the pressure-sensitive surface portion based on a detection result by the detecting unit.
The manipulator system according to claim 4. The manipulator system further includes an endoscope, and a display unit that displays an observation image obtained by the endoscope,
The support mechanism has a tilt support mechanism that supports the pressure-sensitive surface portion in a tiltable manner,
The detection unit includes an attitude detection unit that detects an attitude of the pressure-sensitive surface unit,
The control device controls the moving mechanism so that a change in the position of the operated portion in the observation image corresponds to a change in the pressure load position in the pressure-sensitive surface portion, and also detects a detection result by the posture detection unit. Controlling the movement mechanism so that the posture of the operated portion is changed following the change in the posture of the pressure-sensitive surface portion,
The manipulator system according to claim 5. The manipulator system includes an endoscope, an endoscope moving mechanism that forms the operating mechanism and moves a distal end portion of the endoscope, a display unit that displays an observation image obtained by the endoscope, Further comprising
The support mechanism has a tilt support mechanism that supports the pressure-sensitive surface portion in a tiltable manner,
The detection unit includes an attitude detection unit that detects an attitude of the pressure-sensitive surface unit,
The control device controls the moving mechanism so that a change in the position of the operated portion in the observation image corresponds to a change in the pressure load position in the pressure-sensitive surface portion, and also detects a detection result by the posture detection unit. Controlling the endoscope moving mechanism so that the visual field of the endoscope is moved following the change in the posture of the pressure-sensitive surface portion based on;
The manipulator system according to claim 5. The manipulator system further includes an endoscope, and a display unit that displays an observation image obtained by the endoscope,
The support mechanism includes a moving support mechanism that supports the pressure-sensitive surface portion so as to be movable in a direction orthogonal to the pressure-sensitive surface portion.
The detection unit has a position detection unit that detects the position of the pressure-sensitive surface unit,
The control device controls the moving mechanism so that a change in the position of the operated portion in the observation image corresponds to a change in the pressure load position in the pressure-sensitive surface portion, and also detects a detection result by the position detection unit. Based on the movement of the pressure-sensitive surface portion in a direction orthogonal to the pressure-sensitive surface portion, the moving mechanism is controlled so that the operated portion is moved in the direction orthogonal to the observation image in the observation image. ,
The manipulator system according to claim 5. The manipulator system further includes an endoscope having a zoom mechanism that forms the operating mechanism, and a display unit that displays an observation image obtained by the endoscope,
The support mechanism includes a moving support mechanism that supports the pressure-sensitive surface portion so as to be movable in a direction orthogonal to the pressure-sensitive surface portion.
The detection unit has a position detection unit that detects the position of the pressure-sensitive surface unit,
The control device controls the moving mechanism so that a change in the position of the operated portion in the observation image corresponds to a change in the pressure load position in the pressure-sensitive surface portion, and follows the movement of the pressure-sensitive surface portion. And controlling the zoom mechanism so that the zoom of the observation image is changed,
The manipulator system according to claim 5. The manipulator system includes an endoscope, an endoscope moving mechanism that forms the operating mechanism and moves a distal end portion of the endoscope, a display unit that displays an observation image obtained by the endoscope, Further comprising
The support mechanism includes a moving support mechanism that supports the pressure-sensitive surface portion so as to be movable in a direction orthogonal to the pressure-sensitive surface portion.
The detection unit has a position detection unit that detects the position of the pressure-sensitive surface unit,
The control device controls the moving mechanism so that a change in the position of the operated portion in the observation image corresponds to a change in the pressure load position in the pressure-sensitive surface portion, and also detects a detection result by the posture detection unit. Based on the movement of the pressure-sensitive surface portion based on, to control the endoscope movement mechanism so that the distal end portion of the endoscope is moved in the visual field direction of the endoscope,
The manipulator system according to claim 5. The pressure-sensitive surface portion has a fine movement operation region capable of performing an operation input for finely moving the operated portion, and an operation operation region forming the operation mechanism,
The control device controls the moving mechanism or the operating mechanism so that the moving mechanism or the operating mechanism is operated following the change of the pressure load position in the operating operation region.
The manipulator system according to claim 4. The manipulator system includes an endoscope, an endoscope moving mechanism that forms the operating mechanism and moves a distal end portion of the endoscope, a display unit that displays an observation image obtained by the endoscope, Further comprising
The control device controls the moving mechanism so that a change in the position of the operated portion in the observation image corresponds to a change in the pressure load position in the fine movement operation region, and the pressure load in the operation operation region. Controlling the endoscope moving mechanism so that the field of view of the endoscope is moved following the change in position;
The manipulator system according to claim 11.

Images