JP2015118323A - Training device, training method, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a training device capable of improving portability and implementing skill training using an instrument without requiring large-scaled configuration, a training method, and a program.SOLUTION: A training device 10 includes: a display part 20 for displaying on a screen a training target object resembling a training target and an instrument object resembling the instrument to be used by a user; a position detection part 30 for detecting a position of the instrument; a state detection part 31 for detecting a state of the instrument; an information processing part 40 for changing the instrument object correspondingly to the detected position and state and calculating an external force that the instrument object receives from the training target object; a connection member 13 attached to the instrument; a transfer member 12 for transferring a tensile force to the instrument via the connection member 13; a driving part 11 that generates the tensile force; and a control part 14. The control part 14 makes the driving part 11 generate an initial force beforehand and increases or decreases the initial force in such a manner that the calculated external force is transferred to the user as tactile force sense.

Description

  The present invention relates to a training apparatus and training method for realizing skill training in a virtual space using a surgical instrument or the like, and further relates to a program for realizing them.

  Surgery performed in the medical field is a kind of skill, and training is necessary for a doctor to acquire a certain level of ability. For this reason, conventionally, training using an animal instead of a human body is performed. However, in such training, there is a problem that it is difficult to prepare an animal and to perform processing after training.

  For this reason, for example, Patent Document 1 discloses a surgical training apparatus using a member simulating a human body component such as a blood vessel or skin. Specifically, the surgical training apparatus disclosed in Patent Document 1 includes a box-shaped training unit and a control unit. The training unit includes a box-shaped case whose internal space corresponds to a chest cavity, a sheet corresponding to skin, and a body to be treated that simulates an affected area to be operated.

  In the training unit, the body to be treated is disposed inside the case, and the seat is attached so as to close the opening of the case. Further, the body to be treated includes a simulated blood vessel and a simulated myocardium formed of silicon rubber. Furthermore, the control unit controls the pulling force of the wire attached to the object to be treated, and operates the object to be treated like a real object.

  Therefore, by using the surgical training apparatus disclosed in Patent Document 1, a trainer can receive training in an environment close to actual surgery without using a substitute animal. Improvement is expected.

JP 2009-133878 A JP 2008-100060 A

  However, the surgical training apparatus disclosed in Patent Document 1 requires a movable part, so that the apparatus itself becomes large. For this reason, there are problems that it is difficult to move and the places where it can be installed are limited.

[Object of invention]
An example of an object of the present invention is to provide a training apparatus, a training method, and a training apparatus that can solve the above-described problems, improve portability, and can realize skill training using an instrument without requiring a large-scale configuration. To provide a program.

In order to achieve the above object, a training device according to one aspect of the present invention is a training device for assisting a user in acquiring skills using an instrument,
A display unit configured to display on a screen a training target object imitating a training target and an instrument object imitating the instrument, arranged in a virtual space;
A position detector for detecting the position of the instrument held by the user;
A state detection unit that detects a state of the instrument held by the user;
An information processing unit that changes the position and state of the instrument object corresponding to the detected position and state, and calculates an external force that the instrument object receives from the training target object due to the change,
A connecting member attached to the instrument;
A transmission member that extends from the training device to the connection member and transmits a force in the pulling direction to the instrument through the connection member;
A drive unit that generates a force in the pulling direction and applies the force to the transmission member;
A control unit for controlling the drive unit,
The control unit causes the driving unit to generate a force in the pulling direction having a set size as an initial force in advance, and the external force calculated by the information processing unit is used as the tactile force sense. Increasing or decreasing the initial force to be transmitted to the user via a connecting member and the instrument;
It is characterized by that.

In order to achieve the above object, a training method according to one aspect of the present invention is a method for assisting a user in acquiring skills using an instrument,
A training unit object that simulates a training target and an instrument object that simulates the instrument, which are arranged in a virtual space, are displayed on a screen, and a position of the instrument held by the user is detected. A position detection unit, a state detection unit for detecting a state of the instrument held by a user, a connection member attached to the instrument, and extending to the connection member and being pulled by the instrument through the connection member Using a training device comprising: a transmission member that transmits a force in a direction; and a drive unit that generates a force in the pulling direction and applies the force to the transmission member;
(A) changing the position and state of the instrument object corresponding to the detected position and state, and calculating the external force that the instrument object receives from the training target object due to the change;
(B) causing the drive unit to generate a force in the pulling direction having a set size as an initial force in advance;
(C) increasing or decreasing the initial force so that the external force calculated in the step (a) is transmitted to the user via the connection member and the instrument as a tactile force sense. When,
It is characterized by having.

Furthermore, in order to achieve the above object, a program according to one aspect of the present invention supports acquisition of skills using a device by a user,
A training unit object that simulates a training target and an instrument object that simulates the instrument, which are arranged in a virtual space, are displayed on a screen, and a position of the instrument held by the user is detected. A position detection unit, a state detection unit for detecting a state of the instrument held by a user, a connection member attached to the instrument, and extending to the connection member and being pulled by the instrument through the connection member A training apparatus comprising: a transmission member that transmits a force in a direction; a drive unit that generates a force in the pulling direction and applies the force to the transmission member; and a computer.
In the computer,
(A) changing the position and state of the instrument object corresponding to the detected position and state, and calculating the external force that the instrument object receives from the training target object due to the change;
(B) causing the drive unit to generate a force in the pulling direction having a set size as an initial force in advance;
(C) increasing or decreasing the initial force so that the external force calculated in the step (a) is transmitted to the user via the connection member and the instrument as a tactile force sense. When,
Is executed.

  As described above, according to the present invention, it is possible to improve portability and realize skill training using an instrument without requiring a large-scale configuration.

FIG. 1 is a perspective view showing an appearance of a training apparatus according to an embodiment of the present invention. FIG. 2 is an exploded perspective view showing each component of the training apparatus according to the embodiment of the present invention. FIG. 3 is a diagram illustrating an example of an instrument used in the embodiment of the present invention and a connection member connected thereto. FIG. 4 is a block diagram showing a configuration of the training apparatus according to the embodiment of the present invention. FIG. 5 is a flowchart showing the operation of the training apparatus 10 according to the embodiment of the present invention. FIG. 6 is a diagram for explaining step S101 shown in FIG. FIG. 7 is a diagram for explaining step S103 shown in FIG. FIG. 8A is a diagram for explaining a tensile force calculation process, and FIG. 8B is a diagram illustrating coordinate axes used for the tensile force calculation process. FIG. 9 is a diagram for explaining the presentation power resetting process. FIG. 10 is a perspective view showing another example of the information terminal according to the embodiment of the present invention.

  Hereinafter, a training apparatus, a training method, and a program according to an embodiment of the present invention will be described with reference to FIGS.

[Device configuration]
Initially, the structure of the training apparatus in this Embodiment is demonstrated using FIGS. 1-3. FIG. 1 is a perspective view showing an appearance of a training apparatus according to an embodiment of the present invention. FIG. 2 is an exploded perspective view showing each component of the training apparatus according to the embodiment of the present invention. FIG. 3 is a diagram illustrating an example of an instrument used in the embodiment of the present invention and a connection member connected thereto.

  First, the external structure of the training apparatus in this Embodiment is demonstrated using FIG. As shown in FIG. 1, the training device 10 is a device for assisting a user 200 in acquiring skills using an instrument.

  The training apparatus 10 includes a screen 101. On the screen, a training target object 102 simulating a training target and an instrument object 103 simulating the instrument 104 used by the user 200 are arranged in a virtual space. indicate. Moreover, the training apparatus 10 includes a connection member 13 that is attached to the instrument 104.

  Moreover, the training apparatus 10 detects the position and state of the instrument 104 held by the user. Furthermore, the training apparatus 10 changes the position and state of the instrument object 103 in the virtual space in accordance with the detected position and state, and calculates the external force that the instrument object 103 receives from the training target object 102 due to this change. .

  And the training apparatus 10 can show the external force which the instrument object 103 receives from the training object 102 in virtual space to a user as a tactile force sense via the connection member 13 by the structure mentioned later. For this reason, according to the training apparatus 10, skill training can be realized without requiring a large-scale configuration. Moreover, the training apparatus 10 is excellent in portability.

  Moreover, in this Embodiment, the training apparatus 10 is providing assistance in acquisition of the skill of surgery. Thus, examples of the instrument include instruments used in surgical operations, and examples of training targets include all or part of the human body.

  Specifically, in the example of FIG. 1, the instrument 104 is a forceps (see FIG. 3), and the training target is a heart. Therefore, an instrument object 103 imitating forceps and a training imitating the heart are displayed on the screen 101. A target object 102 is displayed. Therefore, by using the training device 10, the user can receive training on how to use forceps in cardiac surgery.

  Then, the internal structure of the training apparatus 10 is demonstrated using FIG.2 and FIG.3. As illustrated in FIG. 2, the training apparatus 10 includes a display unit 20 that displays a virtual space on a screen, a position detection unit 30, a state detection unit 31, and an information processing unit 40.

  Among these, the position detection unit 30 detects the position of the instrument 104 held by the user 200. The state detection unit 31 detects the state of the instrument 104 held by the user. In addition, the information processing unit 40 changes the position and state of the instrument object 103 (see FIG. 1) corresponding to the detected position and state, and the instrument object 103 is changed to the training object 102 (see FIG. 1) by this change. The external force received from is calculated.

  As shown in FIG. 2, the training apparatus 10 also includes a drive unit 11, a transmission member 12, a connection member 13, and a control unit 14 in order to present a tactile sensation to the user 200 (see FIG. 1). ing. Among these, the connection member 13 is attached to the instrument 104 (refer FIG.1 and FIG.3).

  The transmission member 12 is a member that extends from the training apparatus 100 to the connection member 13 and transmits a force in the pulling direction (hereinafter referred to as “tensile force”) to the instrument 104 via the connection member 13. The drive unit 11 generates a tensile force and applies it to the transmission member 12.

  Further, the control unit 14 first causes the drive unit 11 to generate a tensile force having a preset size as an initial force. Then, the drive unit 11 increases the initial force so that the external force calculated by the information processing unit 40 is transmitted to the user 200 (see FIG. 2) via the connection member 13 and the instrument 104 as a tactile force sense. Or reduce.

  Thus, the training apparatus 100 can present a tactile force sense to the hand of the user 200 holding the instrument 104 by transmitting a force in the pulling direction via the connection member 13 and the transmission member 12. it can. The “tactile sensation” as used in the present invention means a repulsive force, a resistance force, an external force, a touch, and the like that the user feels.

  Here, the configuration of the training apparatus 10 in the present embodiment will be described more specifically. First, as shown in FIG. 2, in the present embodiment, the training apparatus 10 includes a cover 50 formed in a frame shape, a display unit 20, and a box-shaped housing 51 in order from the user side. Yes. The cover 50 is attached to the opening portion of the housing 51 so that the screen 101 of the display unit 20 is exposed. In the present embodiment, the display unit 20 is a thin display device such as a liquid crystal display device or an organic EL display device.

  The drive unit 11, the control unit 14, the position detection unit 30, and the information processing unit 40 described above are disposed inside the housing 51. Further, as shown in FIG. 2, in the present embodiment, three transmission members 12 are used, and three drive units 11 are arranged correspondingly.

  In the present embodiment, each transmission member 12 is connected to the connection member 13 attached to the instrument 104 held by the user 200 from a different position on the back side of the training apparatus 10 (the side opposite to the side on which the screen 101 is provided). It is a string-like member extending, for example, a wire. The tip of each transmission member 12 is fixed to the connection member 13.

  As shown in FIG. 3, in the present embodiment, since forceps are used as the instrument 104, the connection member 13 is formed in a shape that can be attached to the forceps. The connection member 13 includes a state detection unit 31 including a sensor that outputs a signal in accordance with the state of the instrument 104.

  Specifically, in the example of FIG. 3, the state detection unit 31 includes a sensor 31a that outputs a signal for specifying the degree of opening and closing of the forceps, and a sensor 31b that outputs a signal for specifying the direction of the forceps. It has. A specific example of the sensor 31a is an encoder capable of detecting a rotation angle, and a specific example of the sensor 31b is a triaxial acceleration sensor that detects an inclination with respect to the vertical direction. Further, a signal output from the sensor 31a (hereinafter referred to as “open / closed state detection signal”) b and a signal output from the sensor 31b (hereinafter referred to as “direction detection signal”) c are information processing units. 40.

  Moreover, in this Embodiment, as shown in FIG. 3, the connection member 13 has the structure which integrated the sensor 31a and the sensor 31b. Further, the connecting member 13 is attached to a connecting portion of the member 104a constituting the forceps with the member 104b, and the sensor 31a detects an angle formed by the member 104a and the member 104b. In this case, the sensor 31b detects the direction of the tip of the member 104a to which the connection member 13 is attached as the direction of the forceps.

  Further, as shown in FIG. 2, in the present embodiment, each drive unit 11 is a motor having a pulley 15 attached to a shaft, and the corresponding transmission member 12 is wound around the pulley 15, whereby the corresponding transmission is performed. A force in the pulling direction is applied to the member 12. One end of the transmission member 12 is fixed to a pulley.

  Furthermore, a through hole 16 is provided on the bottom surface of the housing 50 for each transmission member 12, and each transmission member 12 extends to the back side of the training apparatus 10 via the through hole 16. Although the position of each through hole 16 is not particularly limited, as described later, the tactile sense presentation range is determined by the position of each through hole 16 (see region X in FIG. 8). Therefore, the position of each through hole 16 is determined in consideration of the required presentation range.

  Thus, in this Embodiment, presentation force is shown to the user's 200 finger | toe by pulling the connection member 13 by the three transmission members 12 (refer FIG. 1). That is, the sense of tactile force is presented by the resultant force of the tensile force that each driving unit 11 applies to the transmission member 13.

  Further, the three transmission members 12 can also be used as wirings that connect the sensors 31 a and 31 b and the information processing unit 40. In this case, a conductive wire whose one end is connected to the sensor 31a or 31b is incorporated in the transmission member 12 in order to function as a wiring. Although not shown in FIG. 2, the other end of the conductive wire extends to the information processing unit 40 beyond the portion where the transmission member 12 is fixed to the pulley 15.

  Further, in the present embodiment, the position detection unit 30 is provided for each drive unit 11, and a signal (hereinafter referred to as “position detection signal”) a for specifying the position of the connection member 13. And output to the information processing unit 40. Specifically, the position detection unit 30 includes an encoder that detects the number of rotations of the shaft of the motor. In this case, each position detection unit 30 outputs a signal specifying the rotational speed of the motor shaft as the position detection signal a.

  When the information processing unit 40 receives the position detection signal a output from each position detection unit 30, the pre-registered total length of the transmission member 12, the diameter of the pulley 15, the pulley 15 to the through hole 16 are registered. Based on the distance or the like, the length from the through hole 16 of each transmission member 12 to the connection member 13 is calculated. Further, as will be described later, the information processing unit 40 specifies the position of the connection member 13, that is, the position of the instrument (forceps) 104 based on the calculated length of each transmission member 12.

  When the information processing unit 40 receives the open / closed state detection signal b and the orientation detection signal c from the sensors 31a and 31b functioning as the state detection unit 31, the information processing unit 40 sets the state of the instrument 104 based on these signals. Identify the degree and direction of forceps opening and closing.

  Then, the information processing unit 40 changes the position, the degree of opening / closing, and the direction of the instrument object 103 in the virtual space in accordance with the specified position, degree of opening / closing, and direction of the forceps. Furthermore, as will be described later, the information processing unit 40 calculates an external force to be received from the instrument object 103 as a result of this change, for example, when the instrument object 103 contacts the training target object 102.

  Moreover, in this Embodiment, the control part 14 and the information processing part 40 are each implement | achieved by computers, such as a microcomputer. Moreover, both may be implement | achieved by the respectively separate computer, and may be implement | achieved by the same computer.

  Thus, in the present embodiment, a string-like member (transmission member 12) is used as a force transmission mechanism by a motor that functions as the drive unit 11. Therefore, since the weight of the constituent members can be reduced and the mechanism for presenting the tactile force sense can be simplified, the training device 10 can be reduced in size and weight and improved in portability.

  In the present embodiment, the transmission direction of the tensile force by the drive member 12 can be freely set by the positions of the pulley 15 and the through hole 16. Furthermore, the distance from the through hole of the transmission member 12 to the connection member 13 can be freely set by the winding amount of the pulley 15. Therefore, since the range in which the user can move the instrument 104 can be increased, it is possible to present a three-dimensional haptic sense in a wide range. Further, since a light string-like member is used as the transmission member 12, it can be said that the user hardly feels mechanical resistance or the like when moving the instrument 104.

  Next, data exchanged by the training apparatus 10 will be described with reference to FIG. FIG. 4 is a block diagram showing a configuration of the training apparatus according to the embodiment of the present invention.

  As shown in FIG. 4, in the training apparatus 10, the information processing unit 40 is connected to the display device 20, the position detection unit 30, the state detection unit 31 (sensors 31 a and 31 b), and the control unit 14. The control unit 14 is connected to a drive unit (motor) 11.

  In this configuration, when the user 200 (see FIG. 1) changes the position of the instrument 104 to which the connection member 13 is attached, each position detection unit 30 outputs a position detection signal a to the information processing unit 40. When the user changes the degree of opening / closing of the instrument 104, the sensor 31 a outputs an open / close state change signal b to the information processing unit 40. Further, when the user changes the orientation of the instrument 104, the sensor 31 b outputs the orientation detection signal c to the information processing unit 40. And the information processing part 40 will specify the position of the instrument 104, an open / closed state, and direction based on these signals, if each signal is received.

  When the information processing unit 40 specifies the position, open / closed state, and orientation of the instrument 104, the information processing unit 40 changes the position, open / closed state, and orientation of the instrument object 103 (see FIG. 1) according to the specified content. Then, the information processing unit 40 refers to the content data 41, performs a process of linking the instrument object 103 and the training target object 102 in the virtual space, and displays data reflecting the processing content (hereinafter referred to as the data). Indicated as “display data.”) E is output to the display unit 20. The display data e includes image data, and the image data is obtained by projecting the inside of the virtual space onto a set projection plane.

  Specific examples of the content data 41 include modeling data for constructing the training object 102 and the instrument object, setting data for each object, data of an application program that provides a virtual space, and the like. Further, the content data 41 may be stored in a storage device provided in the training apparatus 10 or may be stored in another device (computer) connected via the Internet.

  Further, the information processing unit 40 calculates the force generated in the virtual space on the instrument object 103 in the above-described interlocking process and specifies the calculated force d (hereinafter referred to as “presentation force specifying data d”). Is output to the control unit 14. The calculated force is a repulsive force or the like generated in the user object 102 and corresponds to a force to be presented to the user, that is, a tactile force sense.

  When the control unit 14 receives the presentation force specifying data d, the control unit 14 calculates the tensile force that each driving unit 11 should output so that the haptic sense specified by the presentation force specifying data d is transmitted to the user 200. And the control part 14 produces | generates the control data g for making each drive part 11 exhibit the target tensile force, and outputs this to each drive part 11. FIG.

  Specifically, the control unit 14 generates a pulse signal for driving a motor that functions as the driving unit 11 using a power supply circuit (not shown), and outputs this as control data g. Thereby, each drive part (motor) 11 pulls the transmission member 12 with the calculated tensile force, and the tactile force sensation specified by the presentation force specification data d via the connection member 13 is placed on the hand of the user 200. Is presented.

[Device operation]
Next, operation | movement of the training apparatus 10 in embodiment of this invention is demonstrated using FIG. FIG. 5 is a flowchart showing the operation of the training apparatus 10 according to the embodiment of the present invention. In the following description, FIGS. 1 to 4 are referred to as appropriate. Moreover, in this Embodiment, the training method is implemented by operating the training apparatus 10. Therefore, the description of the training method in the present embodiment is replaced with the following description of the operation of the training apparatus 10.

  First, in order for the user 200 to perform a surgical procedure on a training target object (an object simulating a human heart) 102 displayed on the screen of the display unit 20 in the space on the back side of the training apparatus 10, The instrument 104 is operated. Specifically, the user 200 uses a forceps to perform a treatment such as pinching a blood vessel portion of the heart or seizing an incision site by grasping a needle. Thereby, as shown in FIG. 4, each position detection unit 30 outputs a position detection signal a, the sensor 31a outputs an open / closed state detection signal b, and the sensor 31b outputs a direction detection signal c. The information processing unit 40 receives these signals.

  Next, as illustrated in FIG. 5, the information processing unit 40 identifies the position, open / closed state, and orientation of the appliance based on the output signals (step S <b> 101). Specifically, the information processing unit 40 calculates the length from the through hole 16 of each transmission member 12 to the connection member 13 based on the position detection signal a, and further calculates the calculated length of each transmission member 12. Based on this, the position of the instrument 104 (connecting member 13) is calculated.

  Further, when the information processing unit 40 receives the open / closed state detection signal b from the sensor 31a, the information processing unit 40 calculates an angle formed by the members 104a and 104b constituting the forceps. Further, upon receiving the direction detection signal c from the sensor 31b, the information processing section 40 calculates the inclination of the member 104a with respect to the vertical direction.

  Next, the information processing section 40 refers to the content data 41 and executes a process (content interlocking process) for interlocking the training object 102 with the instrument object 103 (step S102). In step S102, the information processing unit 40 outputs display data e reflecting the processing content of the content interlocking process to the display unit 20. Furthermore, in step S <b> 102, the information processing unit 40 calculates the force generated in the virtual space for the appliance object 103 and outputs the presentation force specifying data d for specifying the calculated force to the control unit 14.

  Next, when receiving the presentation force specifying data d from the information processing unit 40, the control unit 14 calculates the tensile force that each driving unit 11 should output when presenting the presentation force specified by the presentation force specifying data d. (Step S103). In step S <b> 103, the control unit 14 further generates control data g so that the calculated tensile force is generated by each drive unit 11, and outputs the control data g to each drive unit 11.

  When step S <b> 103 is executed, in the training apparatus 10, the motors constituting each driving unit 11 rotate according to the output control data g to pull the transmission member 12, and the connection member 13 and the instrument 104 are interposed. Then, a tactile force sense is presented to the hand of the user 200 (step S104).

  Further, the virtual space after the content linkage processing is displayed on the screen 101 of the display unit 20 based on the display data e output by the information processing unit 40 in step S102 (step S105). Note that step S104 and step S105 may be executed simultaneously.

  In the present embodiment, steps S101 to S105 are repeatedly executed. Therefore, when the user 200 moves the instrument 104 from one position to another position, for example, the steps S101 to S105 are repeatedly executed from the start to the end. Can be presented with tactile sensation.

  Here, each step from step S101 to step S103 shown in FIG. 5 will be described in more detail with reference to FIGS.

[Step S101]
First, step S101 (processing for detecting the position and state of the instrument) shown in FIG. 5 will be described with reference to FIG. FIG. 6 is a diagram for explaining step S101 shown in FIG. In the detection process of step S <b> 101, the position of the connection member 13 to which the distal end of the transmission member 12 is connected is specified by the length of the transmission member 12 on the back side of the training apparatus 10. The length of the transmission member 12 is specified by the position detection unit 30.

Specifically, as shown in FIG. 6, the lengths from the through holes 16 to the connection members 13 of the transmission members 12 are l ₁ , l ₂ , and l ₃ , respectively. The interval between the holes is w, and the interval between the through holes adjacent in the vertical direction of the screen is h. In this case, the information processing unit 40 geometrically calculates the coordinates (x, y, z) of the connecting member 12 using l ₁ , l ₂ , l ₃ , w, and h.

  Further, as described above, the information processing unit 40 calculates the angle formed by the members 104a and 104b constituting the forceps based on the open / closed state detection signal b, and further, based on the direction detection signal c, The inclination of the member 104a with respect to the direction is calculated.

[Step S102]
Next, step S102 (content interlocking process) shown in FIG. 5 will be described with reference to FIG. In the content linkage processing in step S102, as described above, the instrument object 103 moves in the virtual space in accordance with the operation of the instrument 104 by the user 200, and the training target object 102 in the virtual space is changed to the instrument object 103. Interlocked.

  Specifically, the information processing unit 40 changes the training target object 102 in accordance with the movement of the instrument object 103, and the interaction (interaction between the training target object 102 in the virtual space and the instrument 104 in the real space. )I take the. At this time, the information processing unit 40 simulates a change and a contact force when the instrument object 103 and the training target object 102 come into contact using a physical simulator in the virtual space.

  Then, the information processing unit 40 calculates a reaction force generated in both of the instrument object 103 and the training target object 102 in accordance with physical coefficients in the virtual space. In addition, as a physical coefficient, the mass, speed, acceleration, a contact direction, a restitution coefficient, etc. of the instrument object 103 and each training object 102 are mentioned.

  Of the calculated reaction forces, the reaction force received by the instrument object 103 from the training target object 102 corresponds to a tactile force sense to be presented to the user 200 (see FIGS. 7 and 8 described later). Accordingly, when the reaction force received by the tool object 103 from the training target object 102 is “presentation force F”, the information processing unit 40 presents the presentation force F to identify the presentation force F so that the presentation force F is presented. The specific data d is output to the control unit 14. Further, the information processing unit 40 outputs display data e for displaying the instrument object 103 and the training target object 102 to the display device 20.

[Step S103]
Next, step S103 (a tensile force calculation process and a control data generation process) illustrated in FIG. 5 will be described with reference to FIGS.

FIG. 7 is a diagram for explaining step S103 shown in FIG. As shown in FIG. 7, when the tensile force of each transmission member 12 required to present the desired presentation force F is τ ₁ , τ ₂ , and τ ₃ , respectively, the presentation force F is basically Corresponds to the resultant force of the tensile forces τ ₁ , τ ₂ , and τ ₃ .

When the presentation force F is a force in a direction from the outside toward the training device 10, the direction of the presentation force F matches the direction of the resultant force of the tensile forces τ _{1 to} τ ₃ . However, as shown in FIG. 7, when the presentation force F is a force in a direction away from the training device 10, the transmission member 12 is a string-like member, and only a force in a direction of pulling toward the training device 10 side is available. Since it cannot be transmitted, there is a possibility that the haptic sense cannot be presented.

Therefore, in the present embodiment, as described above, the control unit 14 always presents a constant force as the initial force F ₀ in advance to the connection member 13 when the tactile force sense is not presented. Then, when the presentation force F is a force in a direction away from the training device 10, the control unit 14 presents a tactile force sense in a direction away from the training device 10 by loosening the initial force F ₀ . .

  In general, human tactile sensation has a phenomenon called adaptation as its time characteristic. Adaptation is a phenomenon in which sensitivity to a stimulus decreases when a constant stimulus continues to be presented to a human. That is, human skin is very adaptable to pressure, and when a ring and a wristwatch are worn, the feeling of wearing is easily lost.

  The same is true for gravity, and humans are not usually aware of their power. For example, when accelerating or decelerating while riding a train, the human being is applied with the resultant force of inertia and gravity as a force, but the human being on the train does not feel the resultant force and moves Feel only the inertial force in the direction.

As described above, in this embodiment, human adaptability is used, and by increasing or decreasing the initial force F ₀ , presentation of a tactile force sense in the direction toward the training device 10 and a tactile force sense in a direction away from the training apparatus 10 is performed. Is possible.

Subsequently, the calculation process of the tensile forces τ _{1 to} τ ₃ applied to the transmission member 12 will be specifically described with reference to FIG. FIG. 8A is a diagram for explaining a tensile force calculation process, and FIG. 8B is a diagram illustrating coordinate axes used for the tensile force calculation process.

In FIG. 8 (a) and (b), tensile force τ ₁ ~τ ₃ is a tensile force, except a tensile force required to generate the initial force F _0, added to the initial force F ₀ Or the pulling force to be subtracted. 8A and 8B, the origin of the coordinate axes is the position of the tip of each transmission member 12. Furthermore, the x axis is an axis parallel to the horizontal direction of the screen, the y axis is an axis parallel to the vertical direction of the screen, and the z axis is an axis parallel to the normal line of the screen. In FIG. 8B, the coordinates of the unit vector r are (r, ψ _i , θ _i ). In this case, the tensile forces τ _{1 to} τ ₃ need to satisfy the relationship of the following formula 1 in order to exhibit the desired presentation force.

In the above formula 1, the tensile forces τ _{1 to} τ ₃ of the transmission member 12 are scalar quantities, and the direction vector Φ _i of the tensile forces τ _{1 to} τ ₃ is expressed by the formula 2.

The control unit 14 can calculate the tensile forces τ _{1 to} τ ₃ by using the above formulas 1 and 2. Further, as shown in Equation 1, the target presentation force F is obtained by subtracting the initial force F ₀ from the tensile force of each transmission member 12. For this reason, unless the presentation force F is a force exceeding the initial force F ₀ in the direction away from the training device 10 (−z direction), the tactile force sense is presented even in the direction away from the training device 10 (−z direction). Is possible.

Note that the tensile forces τ ₁ , τ ₂ , and τ ₃ as the conditions of the tensile force of each transmission member 12 can only present a force in the pulling direction, and therefore always take positive values. Further, when the minimum value of each tensile force is τ _min , the following formula 3 is established.

By the way, since the transmission member 12 can transmit only the force in the pulling direction, there may occur a situation where the tactile force sense to be presented cannot be presented due to the resultant force of the tensile forces τ ₁ , τ ₂ , τ ₃ (see FIG. 9). ). Specifically, the position where the connecting member 13 does not overlap with a region (see region X in FIG. 9) obtained by connecting adjacent through holes 16 with a straight line in a direction parallel to the normal line of the screen (z-axis direction). In the case of the above, there is a possibility that the target presentation force F cannot be calculated in the above formula 1. In such a case, in the present embodiment, the control unit 14 resets the haptic force (presentation force F) to be presented, and the initial force F ₀ is presented so that the reset presentation force Fr is presented. Increase or decrease. The resetting process will be specifically described below.

  FIG. 9 is a diagram for explaining the presentation power resetting process. As shown in FIG. 9, for example, it is assumed that the position (x, y, z) of the connecting member 13 is in a position that does not overlap in the z-axis direction with a region X obtained by connecting adjacent through holes 16 with a straight line. To do.

In the case shown in FIG. 9, as long as the tension of each transmission member 12 is set as long as the component of the presentation force F in the X-axis direction is not positive, the presentation force F is calculated by the above formulas 1 and 2. Is impossible. On the other hand, even in such a situation, the user can move the instrument 104 to a position overlapping the region X in the z-axis direction. Therefore, in such a case, the control unit 14 resets the presentation force Fr so that the tensile forces τ ₁ , τ ₂ , and τ ₃ can be calculated by the above formulas 1 and 2.

In the example of FIG. 9, the direction in which the tensile forces τ ₁ , τ ₂ , and τ ₃ are actually desired to be pulled is the resultant force direction of the presentation force F and the initial force F ₀ . However, this direction is not a direction that can be pulled by the resultant force of each transmission member 12. Therefore, the control unit 14, the closest force resultant force of the presentation force F and the initial force F _0, is re-set as the new presentation force Fr.

In the example of FIG. 9, the presentation force Fr generated by the tensile force τ ₁ and the tensile force τ ₂ is close to the resultant force of the original presentation force F and the initial force F ₀ . Therefore, the control unit 14 rotationally projects the resultant force of the original presentation force F and the initial force F ₀ on the surface created by the two transmission members 12 that generate the tensile force τ ₁ and the tensile force τ _2. Then, the new presentation force Fr is reset.

Specifically, the projection vector V onto the surface created by the two transmission members 12 that generate the tensile force τ ₁ and the tensile force τ ₂ can be expressed by the following equation (4). As shown in FIG. 9, the variable “a” in the following equation 4 represents the position at which the rotation angle ω is minimized when the rotation projection is performed, that is, the position on the side in the vertical direction of the screen of the region X. (0 <a <1). Φ ₁ is a direction vector of τ ₁ with reference to the through hole 16. Φ ₂ is a direction vector of τ ₂ with respect to the through hole 16. Φ ₁ and Φ ₂ are obtained from the above-mentioned formula 2.

Accordingly, the control unit 14 uses the following equation 5, the inner product of the resultant force of the projection vector V and the original presentation force F and the initial force F _0, calculates a projection vector be minimized. Then, the control unit 15 calculates a new presentation force Fr by applying the calculated projection vector to the following Expression 6. Thereafter, the control unit 15 calculates the tensile forces τ ₁ , τ ₂ , τ ₃ of each transmission member 12 using the new presentation force Fr, generates control data g so that these are generated, and drives each drive To the unit 11.

[Modifications in Embodiment]
In the example described above, the number of transmission members 12 is three, but in the present embodiment, the number of transmission members 12 is not particularly limited. The number of the transmission members 12 should just be set in the range which does not enlarge the training apparatus 10. FIG.

  In the example described above, a motor is used as the drive unit 11. However, in the present embodiment, the drive unit is not limited to a motor. The drive unit 11 may be an actuator that can pull the drive member. Examples of the drive unit 11 include an artificial muscle actuator that performs an extension operation, and a fibrous shape memory alloy actuator.

  Moreover, in the example mentioned above, the encoder which specifies the length of a transmission member is used as the position detection part 30, However, In this Embodiment, the position detection part 30 may be other than an encoder. For example, as the position detection unit 30, a camera installed on the back surface of the training apparatus 10 can be used. In this case, the position of the connection member 13 is optically detected. Further, a magnetic sensor installed on the back surface of the training apparatus 10 can be used as the position detection unit 30. In this case, the position of the connection member 13 can be detected by forming the connection member 13 from a material that generates magnetism.

  Further, in the above-described example, as shown in FIG. 5, the position of the through hole 16, which is the position where the transmission member 12 starts to be pulled, is set at the apex position of a right triangle with the vertical direction being h and the horizontal direction being w. However, in the present embodiment, the position of the through hole 16 is not particularly limited. Further, all the through holes may not be arranged in the same plane. The position of the through hole 16 is appropriately set within the range allowed by the thickness of the training device 10.

  Furthermore, in the above-described example, the training apparatus 10 may be configured by retrofitting an existing information terminal with a mechanism portion configured by the drive unit 11, the transmission member 12, and the like. In this case, it becomes easy to reduce the manufacturing cost of the training apparatus 10.

In the example described above, the tactile sensation is presented with the back side of the training device 10 as the operation space. However, in this embodiment, the space on the screen side of the training device 10 is the operation space. Also good. However, in this case, the direction of the initial force F ₀ is a negative direction in the z-axis (see FIG. 7).

  In the example described above, the haptic sense presentation device is applied to a tablet information terminal, but the present embodiment is not limited to this. For example, the tactile sensation presentation device may be incorporated in a head-mounted display attached to the user's face. In this case, the user can feel the touch feeling by moving the finger wearing the connection member in front of the head mounted display while viewing the content displayed on the display panel inside the head mounted display.

  FIG. 10 is a perspective view showing another example of the information terminal in the embodiment of the present invention. As shown in FIG. 10, in the present embodiment, the housing constituting the training apparatus 10 includes a recess 18 for housing the connection member 13 and a groove 19 for housing the transmission member 12. Preferably it is formed. In the case shown in FIG. 10, the user can easily carry the training apparatus 10.

  In the above example, the case where forceps are used as the instrument 104 has been described, but the instrument 104 is not particularly limited in the present embodiment. For example, as the instrument 104, a scalpel, tweezers, scissors, etc., which are also used in a surgical operation, may be used. However, when a scalpel is used as the instrument 104, it is sufficient that only the direction of the scalpel can be specified. Therefore, the state detection unit 31 only needs to include the sensor 31b such as a triaxial acceleration sensor.

  In the present embodiment, the training device 10 may include a plurality of connection members 13. In this case, each connection member 13 is attached to a separate instrument 104 and further connected to different transmission members 12. Further, when the number of connection members 13 increases, the drive unit 11, the position detection unit 30, and the state detection unit 31 are additionally provided. And the control part 14 gives the force of a tension | pulling direction by the drive part 11 corresponding to it for every connection member 13 via the transmission member 12 to which it is connected, and thereby transmits a tactile force sense to a user. To do.

  Specifically, an example in which two connection members 12 are provided and each connection member 12 is connected to a separate forceps can be given. In this case, the user can feel tactile sensation in both hands while operating the two forceps with each of the right hand and the left hand. In this case, since three transmission members 12 are required for each connection member 13, six driving units 11 and six position detection units 30 are mounted on the training device 10. In addition, sensors 31 a and 31 b that function as the state detection unit 31 are also mounted for each connection member 13.

[Other application examples]
Moreover, in this Embodiment, the training apparatus 10 is applicable also in fields other than the field of surgery. The training device 10 can be applied without particular limitation as long as it is a field where it is necessary to acquire a skill using an instrument by training.

  For example, the training device 10 can be used to acquire skills in dental treatment. In this case, for example, the user can experience the sensation when the actual tooth is being shaved. The training device 10 can also be used to acquire skills in machine maintenance and assembly. In this case, for example, the user can experience a feeling of tightening a screw or a bolt with an appropriate torque.

[program]
The program in the present embodiment may be a program that causes a computer to execute steps S101 to S105 shown in FIG. By installing and executing this program on a computer, the training apparatus 10 and the training method in the present embodiment can be realized. In this case, a CPU (Central Processing Unit) of the computer functions as the control unit 14 and the control unit 40 and performs processing.

  Moreover, the computer which can implement | achieve the training apparatus 10 is not specifically limited, The microcomputer mentioned above may be sufficient and a general purpose personal computer may be sufficient. Furthermore, the computer which can implement | achieve the training apparatus 10 may be a computer with which the mobile phone, the smart phone, or the tablet-type information terminal is equipped.

  In addition, the program in the present embodiment may be provided in a state of being recorded on a computer-readable recording medium, or may be transmitted via the Internet. Specific examples of the recording medium include general-purpose semiconductor storage devices such as CF (Compact Flash) and SD (Secure Digital), magnetic storage media such as a flexible disk, or CD-ROM (Compact Disk Read). An optical storage medium such as “Only Memory”.

[Effects of the embodiment]
As described above, in this embodiment, when the user moves the instrument in the space on the back side while looking at the training target object imitating the training target on the screen, the change that the instrument object gives to the training target object A sense of touch can be felt (see FIG. 1). For this reason, according to the present embodiment, skill training can be realized without requiring a large-scale configuration.

  Further, in the present embodiment, the generation of the haptic sensation is performed in consideration of human perceptual characteristics, so that the generated haptic sensation is not uncomfortable for the user. Furthermore, by ensuring the length of the transmission member, the user can move the instrument greatly, and from this point of view, the sense of touch is not uncomfortable for the user.

  Further, when a string-like member is used as the transmission member, it is possible to suppress complication of the training apparatus, and in particular, it is possible to promote downsizing and weight reduction of the apparatus. Furthermore, since it is not necessary to arrange a motor etc. spatially, it becomes possible to implement | achieve a training apparatus with a portable information terminal.

  As described above, according to the present invention, it is possible to improve portability and realize skill training using an instrument without requiring a large-scale configuration. The present invention is useful in various fields that require skill acquisition using an instrument.

DESCRIPTION OF SYMBOLS 10 Training apparatus 11 Drive part 12 Transmission member 13 Connection member 14 Control part 15 Pulley 16 Through hole 18 Concave part for switch accommodation 19 Concave part for transmission member accommodation 20 Display part 30 Position detection part 31 State detection part 40 Information processing part 50 Cover 51 Housing 101 Screen 102 Training object 103 Instrument object 200 User a Position detection signal b Open / close state detection signal c Direction detection signal d Presenting force specification data g Control data e Display data

Claims (8)

A training device for assisting a user in acquiring skills using an instrument,
A display unit configured to display on a screen a training target object imitating a training target and an instrument object imitating the instrument, arranged in a virtual space;
A position detector for detecting the position of the instrument held by the user;
A state detection unit that detects a state of the instrument held by the user;
An information processing unit that changes the position and state of the instrument object corresponding to the detected position and state, and calculates an external force that the instrument object receives from the training target object due to the change,
A connecting member attached to the instrument;
A transmission member that extends from the training device to the connection member and transmits a force in the pulling direction to the instrument through the connection member;
A drive unit that generates a force in the pulling direction and applies the force to the transmission member;
A control unit for controlling the drive unit,
The control unit causes the driving unit to generate a force in the pulling direction having a set size as an initial force in advance, and the external force calculated by the information processing unit is used as the tactile force sense. Increasing or decreasing the initial force to be transmitted to the user via a connecting member and the instrument;
A training device characterized by that. A housing, a plurality of the transmission members, and a plurality of the drive units corresponding to the plurality of the transmission members, respectively.
Each of the plurality of transmission members is a string-like member extending from a different position on the back side of the housing to the connection member,
Each of the plurality of driving units is disposed inside the housing and winds up the corresponding transmission member to apply a force in the pulling direction to the corresponding transmission member.
The control unit transmits a resultant force of the force in the pulling direction that each of a plurality of driving units gives to the transmission member as the tactile force sense to the user.
The training device according to claim 1. The state detection unit includes a sensor that is provided on the connection member and outputs a signal in accordance with the state of the instrument,
The information processing unit specifies the state of the appliance based on the signal output from the sensor, and calculates the external force using the specified state.
The training device according to claim 1 or 2.   The training apparatus according to any one of claims 1 to 3, wherein the instrument is an instrument used in a surgical operation, and the training target is all or a part of a human body. The instrument is a forceps used in surgery;
The training object is all or part of the human body,
The state detection unit, as the sensor, includes a first sensor that outputs a signal for specifying the degree of opening and closing of the forceps, and a second sensor that outputs a signal for specifying the direction of the forceps. Have
The information processing unit specifies the opening and closing degree and direction of the forceps as the state of the instrument based on the signal output by the first sensor and the signal output by the second sensor.
The training device according to claim 3. A plurality of connecting members;
The plurality of connection members are each attached to a separate instrument and connected to the transmission members different from each other,
The control unit applies a force in the tension direction by the driving unit corresponding to each of the plurality of connection members via the transmission member to which the connection member is connected, thereby providing the user with the force. Transmitting the haptic sense,
The training device according to any one of claims 1 to 5. A method for assisting a user in acquiring skills using an instrument,
A training unit object that simulates a training target and an instrument object that simulates the instrument, which are arranged in a virtual space, are displayed on a screen, and a position of the instrument held by the user is detected. A position detection unit, a state detection unit for detecting a state of the instrument held by a user, a connection member attached to the instrument, and extending to the connection member and being pulled by the instrument through the connection member Using a training device comprising: a transmission member that transmits a force in a direction; and a drive unit that generates a force in the pulling direction and applies the force to the transmission member;
(A) changing the position and state of the instrument object corresponding to the detected position and state, and calculating the external force that the instrument object receives from the training target object due to the change;
(B) causing the drive unit to generate a force in the pulling direction having a set size as an initial force in advance;
(C) increasing or decreasing the initial force so that the external force calculated in the step (a) is transmitted to the user via the connection member and the instrument as a tactile force sense. When,
A training method characterized by comprising: To assist users in acquiring skills using instruments,
A training unit object that simulates a training target and an instrument object that simulates the instrument, which are arranged in a virtual space, are displayed on a screen, and a position of the instrument held by the user is detected. A position detection unit, a state detection unit for detecting a state of the instrument held by a user, a connection member attached to the instrument, and extending to the connection member and being pulled by the instrument through the connection member A training apparatus comprising: a transmission member that transmits a force in a direction; a drive unit that generates a force in the pulling direction and applies the force to the transmission member; and a computer.
In the computer,
(A) changing the position and state of the instrument object corresponding to the detected position and state, and calculating the external force that the instrument object receives from the training target object due to the change;
(B) causing the drive unit to generate a force in the pulling direction having a set size as an initial force in advance;
(C) increasing or decreasing the initial force so that the external force calculated in the step (a) is transmitted to the user via the connection member and the instrument as a tactile force sense. When,
A program that executes

Images