JP2024010205A - Input device for operation manipulator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an input device for an operation manipulator capable of finely setting an operation force.

SOLUTION: An input device 2A for an operation manipulator includes: a master arm 10 which has joints and is provided with an operation unit 74 operated by an operator at the end; motors M1 to M7 driving joints JT1 to JT7 of the master arm 10 via power transmitting elements; and a controller C1 which calculates an amount of power compensation with respect to at least either an inertia force or a viscous force of the master arm 10 on the basis of at least either speed or acceleration of the power transmitting elements driven by the operator's operation of the operation unit 74 and controls operations of the motors M1 to M7 so as to perform power compensation of the amount of power compensation. The controller C1 is configured to adjust an amount of power compensation with respect to at least either the inertia force or the viscous force.

SELECTED DRAWING: Figure 9

COPYRIGHT: (C)2024,JPO&INPIT

Description

The present invention relates to an input device for a surgical manipulator.

As an input device for a surgical manipulator, for example, a master device described in Patent Document 1 is known. In this master device, a wrist is rotatably provided at the tip of a three-axis arm. The wrist is formed as a link assembly of three axes (joints) that constitutes a gimbal with three degrees of freedom. A handle operated by an operator is formed at the tip of this triaxial link connection body. Then, the processor controls each axis of the wrist to an angle close to a right angle by rotating the wrist relative to the tip of the arm based on the rotational position of each axis (joint) of the wrist. This allows the inertia and friction of the master link connection to be minimized no matter which direction the handle rotates (see paragraph [0029] of Patent Document 1).

United States US2002/0120363A1 Patent Publication

By the way, in order to perform a surgery using a surgical robot (surgical manipulator), the operator needs to operate the handle with delicate force. Therefore, the master device (the input device of the surgical manipulator) is required to be able to adjust the force (hereinafter sometimes referred to as operating force) required for the operator to operate the handle (operating section).

However, in the description of Patent Document 1, it is not clear in the first place whether or not the inertia force of the master link connection body, which is part of the operating force, is compensated for. Therefore, as a matter of course, Patent Document 1 does not mention (disclose) at all about adjusting the operating force including the inertial force. Therefore, there was a problem that the operating force could not be adjusted.

The present invention has been made to solve the above problems, and an object of the present invention is to provide an input device for a surgical manipulator that can adjust the operating force.

In order to achieve the above object, an input device for a surgical manipulator according to an aspect of the present invention includes a master arm having a joint and having an operating section operated by an operator at a distal end thereof; A force compensation amount for the inertial force of the master arm is calculated based on a motor that drives the joint via a power transmission element, and an acceleration of the power transmission element that is moved by the operator's operation of the operation unit, and the force is calculated. a controller that controls the operation of the motor so as to perform a compensation amount of force compensation to cancel the inertial force, and the controller is configured to adjust the amount of force compensation for the inertial force.

Here, the "force compensation amount" means the magnitude of the force that cancels out part or all of the inertial force of the master arm. Further, when the operator operates the master arm, a resistance force from the master arm is applied to the operator. This resistive force includes an inertial force that is proportional to the inertia and acceleration of the master arm. Hereinafter, the amount of compensation for resistance force will be referred to as "the amount of compensation for resistance force", and the amount of compensation for inertial force will be referred to as "the amount of inertia force compensation". Therefore, if the gravity applied to the master arm is ignored (or if the operating force is compensated for by gravity), the difference between the resistance force and the amount of resistance force compensation is the amount required for the operator to operate the master arm. It becomes a power, a manipulative force.

According to the above configuration, the controller calculates the amount of force compensation for the inertial force of the master arm based on the acceleration of the power transmission element that is moved by the operation of the operation unit by the operator, and performs the force compensation of this force compensation amount. Since the operation of the motor is controlled, the operating force can be finely set by, for example, selecting the force compensation amount for the inertia force of the master arm as the force compensation amount. Moreover, since the controller adjusts the amount of force compensation for the inertial force, the operating force can be adjusted.

The controller includes a storage device for storing a plurality of ranking force compensation amounts ranked in descending order of compensation amount, and an input device for specifying any one of the plurality of ranking force compensation amounts, and the controller comprises: , the force compensation amount for the inertial force may be adjusted to a ranking force compensation amount specified by the input device.

According to this configuration, when a ranked force compensation amount is input into the input device, the ranked force compensation amount is ranked as a compensation amount for force compensation so as to obtain an operating force preferred by the operator, and the controller automatically adjusts the force compensation amount to the specified force compensation amount. Since the ranking force compensation amount is adjusted, the operating force can be set to the operating force preferred by the operator.

The controller includes a storage device that stores designated force compensation amounts in association with each of the plurality of operators, and an input device for specifying the operator corresponding to the designated force compensation amount, and the controller The force compensation amount for the inertial force may be adjusted to a specified force compensation amount corresponding to the operator specified by the input device.

According to this configuration, by storing the designated force compensation amount for force compensation so that each operator obtains the desired operating force in correspondence with each operator, the operating force can be adjusted by the operator. Can be set to desired operating force.

The controller includes an acceleration acquisition unit that acquires the acceleration of the power transmission element, and a force compensation amount for the inertial force based on the acceleration of the power transmission element acquired by the acceleration acquisition unit and the inertia of the master arm. The motor may include an inertial force compensation amount calculation section that calculates the amount of force compensation, and a power converter that supplies the motor with electric power for performing force compensation of the amount of force compensation for the inertial force.

According to this configuration, an input device for a surgical manipulator that can finely set the operating force and furthermore adjust the operating force can be realized.

The master arm has a plurality of the joints, and the input device includes a plurality of the power transmission elements and a plurality of the motors in which each of the motors drives each of the joints via each of the power transmission elements. , the controller controls the inertia force of a portion of the master arm driven by each joint based on the acceleration of each power transmission element that moves by the operator's operation of the operating section for each joint. The motor may be configured to calculate a force compensation amount for the force compensation amount, and control the operation of each of the motors so as to perform force compensation according to the force compensation amount.

According to this configuration, in the input device of a surgical manipulator including a master arm having a plurality of joints, the operating force can be finely set and furthermore, the operating force can be adjusted.

The controller may be configured to adjust, for each joint, a force compensation amount for an inertial force of a portion of the master arm driven by each joint.

According to this configuration, in the input device of a surgical manipulator including a master arm having a plurality of joints, the amount of force compensation can be adjusted for each joint, so that the operating force can be adjusted more finely.

The controller may further be configured to control the operation of the motor so that the attitude of the master arm does not change due to gravity.

According to this configuration, when the operator stops the master arm, the master arm stops at the stop position.

The controller further calculates the position of the operating part based on the position of the power transmission element that moves due to the operation of the operating part by the operator, and outputs the calculated position of the operating part to a surgical manipulator. It may be configured as follows.

According to this configuration, the surgical manipulator can be operated according to the position of the operating section.
In order to achieve the above object, an input device for a surgical manipulator according to an aspect of the present invention includes a master arm having a joint and having an operating section operated by an operator at a distal end thereof; A force compensation amount for the viscous force of the master arm is calculated based on a motor that drives the joint via a power transmission element, and the speed of the power transmission element that is moved by the operation of the operation unit by the operator, and the amount of force compensation for the viscous force of the master arm is calculated. a controller that controls the operation of the motor so as to perform force compensation of a compensation amount to cancel out the viscous force, and the controller is configured to adjust the amount of force compensation for the viscous force.
Here, the "force compensation amount" means the magnitude of the force that cancels out part or all of the viscous force of the master arm. Further, when the operator operates the master arm, a resistance force from the master arm is applied to the operator. This drag force includes a viscous force that is proportional to the viscosity and velocity of the master arm. In the following, the amount of compensation for viscous force will be referred to as "the amount of viscous force compensation." Therefore, if the gravity applied to the master arm is ignored (or if the operating force is compensated for by gravity), the difference between the resistance force and the amount of resistance force compensation is the amount required for the operator to operate the master arm. It becomes a power, a manipulative force.
According to the above configuration, the controller calculates the amount of force compensation for the viscous force of the master arm based on the speed of the power transmission element that moves according to the operation of the operation unit by the operator, and performs the force compensation of this amount of force compensation. Since the operation of the motor is controlled, the operating force can be finely set by selecting the force compensation amount for the viscous force of the master arm as the force compensation amount. Moreover, since the controller adjusts the amount of force compensation for the viscous force, the operating force can be adjusted.
The controller includes a storage device for storing a plurality of ranking force compensation amounts ranked in descending order of compensation amount, and an input device for specifying any one of the plurality of ranking force compensation amounts, and the controller comprises: , the force compensation amount for the viscous force may be adjusted to a ranking force compensation amount specified by the input device.
According to this configuration, when a ranked force compensation amount is input into the input device, the ranked force compensation amount is ranked as a compensation amount for force compensation so as to obtain an operating force preferred by the operator, and the controller automatically adjusts the force compensation amount to the specified force compensation amount. Since the ranking force compensation amount is adjusted, the operating force can be set to the operating force preferred by the operator.
The controller includes a storage device that stores designated force compensation amounts in association with each of the plurality of operators, and an input device for specifying the operator corresponding to the designated force compensation amount, and the controller The force compensation amount for the viscous force may be adjusted to a specified force compensation amount corresponding to the operator specified by the input device.
According to this configuration, by storing the designated force compensation amount for force compensation so that each operator obtains the desired operating force in correspondence with each operator, the operating force can be adjusted by the operator. Can be set to desired operating force.
The controller includes a speed acquisition unit that acquires the speed of the power transmission element, and a force compensation amount for the viscous force based on the speed of the power transmission element acquired by the speed acquisition unit and the viscosity of the master arm. The motor may include a viscous force compensation amount calculation section that calculates the amount of force compensation, and a power converter that supplies the motor with electric power for performing force compensation of the amount of force compensation for the viscous force.
According to this configuration, an input device for a surgical manipulator that can finely set the operating force and furthermore adjust the operating force can be realized.
The master arm has a plurality of the joints, and the input device includes a plurality of the power transmission elements and a plurality of the motors in which each of the motors drives each of the joints via each of the power transmission elements. , the controller is configured to adjust the viscous force of the portion of the master arm driven by each joint based on the speed of each power transmission element moved by the operator's operation of the operating section for each joint. The motor may be configured to calculate a force compensation amount for the force compensation amount, and control the operation of each of the motors so as to perform force compensation according to the force compensation amount.
According to this configuration, in the input device of a surgical manipulator including a master arm having a plurality of joints, the operating force can be finely set and furthermore, the operating force can be adjusted.
The controller may be configured to adjust, for each joint, a force compensation amount for a viscous force of a portion of the master arm driven by each joint.
According to this configuration, in the input device of a surgical manipulator including a master arm having a plurality of joints, the amount of force compensation can be adjusted for each joint, so that the operating force can be adjusted more finely.
The controller may further be configured to control the operation of the motor so that the attitude of the master arm does not change due to gravity.
According to this configuration, when the operator stops the master arm, the master arm stops at the stop position.
The controller further calculates the position of the operating part based on the position of the power transmission element that moves due to the operation of the operating part by the operator, and outputs the calculated position of the operating part to a surgical manipulator. It may be configured as follows.
According to this configuration, the surgical manipulator can be operated according to the position of the operating section.

The present invention provides an input device for a surgical manipulator that can finely set the operating force and furthermore adjust the operating force.

FIG. 1 is a schematic diagram illustrating an example of a robot-assisted surgical system including an input device for a surgical manipulator according to an embodiment of the present invention. FIG. 2 is a schematic diagram showing an outline of the appearance of an example of a hand control included in the robot-assisted surgery system of FIG. 1. FIG. 3 is a side view schematically showing the outline of the input device shown in FIG. 2. FIG. FIG. 4 is a cross-sectional view showing a longitudinal section of a shoulder portion of the arm portion of the master arm of FIG. 3. FIG. FIG. 5 is a cross-sectional view showing a vertical section of the upper arm part of the arm part of the master arm shown in FIG. 3. FIG. 6 is a perspective view showing the appearance of the wrist portion of the master arm of FIG. 3. FIG. FIG. 7 is a cross-sectional view showing a vertical cross section of the fourth link and the fifth link of the wrist portion of FIG. 6. FIG. FIG. 8 is a sectional view showing a longitudinal section of the sixth link of the wrist section and the operating section of FIG. 6. FIG. FIG. 9 is a functional block diagram showing an example of a configuration of a control system of an input device and a surgical manipulator. FIG. 10 is a functional block diagram showing an example of the configuration of the input device controller in FIG. 9. FIG. 11 is a block diagram showing the configuration of the resistance force compensation amount calculation section of FIG. 9. FIG. 12 is a graph showing an example of the ranking force compensation amount. FIG. 13 is a graph showing an example of the specified force compensation amount for each operator.

Embodiments of the present invention will be described below with reference to the drawings. In addition, below, the same reference numerals are given to the same or equivalent element throughout all the drawings, and the overlapping explanation will be omitted. In addition, since the following figures are for explaining the present invention, if elements unrelated to the present invention are omitted in these figures, or if dimensions are not accurate due to exaggeration, etc., , there are cases where mutually corresponding elements do not match.

Note that the present invention is not limited to the following embodiments.

(Embodiment)
[composition]
{Hardware configuration}
FIG. 1 is a schematic diagram showing an overview of an example of a robot-assisted surgical system including an input device for a surgical manipulator according to Embodiment 1 of the present invention. FIG. 2 is a schematic diagram showing an outline of the appearance of an example of a hand control included in the robot-assisted surgery system of FIG. 1. In the following, the vertical direction in FIGS. 1 and 2 will be described as the vertical direction in absolute space.

Referring to FIGS. 1 and 2, a robotically-assisted surgical (RAS) system 200 includes a positioner 201, a surgical manipulator 202, and a hand control 100.

<Robot-assisted surgery system 200>
Referring to FIG. 1, for example, an operating table 203 is placed in an operating room, and a patient 204 is placed on the operating table 203. A positioner 201 is placed near the operating table 203. The positioner 201 is composed of, for example, an articulated robot. A surgical manipulator 202 composed of an articulated robot is attached to a base 201a at the distal end of the positioner 201. The surgical manipulator 202 has, for example, a base, an arm 401, and an end effector. connected by joints. A plurality of (here, for example, four) arm portions 401 are connected to the base. A surgical tool 402 is attached to the tip of each of the plurality of arm sections 401 as an end effector section.

Positioner 201 transports surgical manipulator 202 to a position suitable for surgical manipulator 202 to perform surgery on patient 204 .

<Hand control 100>
FIG. 2 shows an overview of the hand control 100. Note that FIG. 2 is a diagram showing the concept of the hand control 100 in an easy-to-understand manner, and therefore, in FIG. are shown differently.

Referring to FIG. 2, the hand control 100 is a device that allows an operator (a doctor performing a surgery) to control the operation of a surgical manipulator 202 to perform a surgery. The hand control 100 is electrically connected to the positioner 201 and the surgical manipulator 202 by wire or wirelessly. The hand control 100 is placed, for example, near the operating table or in a separate room.

The hand control 100 here includes a main body 1, an input device 2, a plurality of pedals 4, a display section 5, and a viewer (not shown).

The main body 1 is formed into a substantially L-shape when viewed from the side, and a right input device 2A and a left input device 2B (of a surgical manipulator) are provided on the right and left sides of the main body 1, respectively. input device) is provided. The right input device 2A and the left input device 2B are for the operator to operate with his right hand and left hand, respectively. The right input device 2A and the left input device 2B each function as a master input device for each arm portion 401 of the surgical manipulator 202 as a slave robot.

A U-shaped support member 3 is provided at the top of the main body 1 so as to protrude forward. A display section 5 is provided at the center of the front end of the support member 3. The display unit 5 is configured with a touch panel, for example, and functions as a screen for displaying or inputting information for an operator to perform various settings on the hand control 100. A viewer (not shown) is provided on the top of the hand control 100, but since the configuration and functions of the viewer are well known, illustration of the input device 2 is omitted in FIG. 2 to make it easier to see. An image captured by an endoscope (surgical tool 402) attached as an end effector section to the tip of the arm section 401 of the surgical manipulator 202 is displayed on the viewer.

A plurality of (four in this case) pedals 4 are provided at the bottom of the main body 1 so as to protrude forward. The plurality of pedals 4 are used to switch the connection between the right input device 2A and the left input device 2B and each arm of the surgical manipulator 202, and to zoom the image displayed on the display unit 5.

For example, while sitting on a chair placed in front of the hand control 100, the operator moves the right input device 2A or the left input device 2B to the right or left while viewing the internal image of the patient 204 displayed on the viewer. Operate the surgery with your hands.

<Input device 2 of surgical manipulator 202>
FIG. 3 is a side view schematically showing the outline of the input device 2 shown in FIG. 2. As shown in FIG. FIG. 3 shows a simplified configuration of the input device 2. As shown in FIG. For specific structural examples of the input device 2, please refer to FIGS. 4 to 8. FIG. 3 shows the right input device 2A. The left input device 2B is simply a reverse structure of the right input device 2A in the left-right direction. Therefore, a description of the left input device 2B will be omitted. Hereinafter, for convenience, the up-down direction and the left-right direction in FIG. 3 will be referred to as the up-down direction and the front-back direction of the right input device 2A, respectively. In the initial state, the right input device 2A takes a reference posture shown in FIG. 3.

Referring to FIG. 3, the right input device 2A assumes a substantially L-shaped reference posture when viewed from the side. Hereinafter, the reference attitude of the right input device 2A may be simply referred to as a "reference attitude." The right input device 2A includes a master arm 10. The master arm 0 includes an arm section 11 and a wrist section 12.

{Arm part 11}
The arm portion 11 includes, for example, a base 21, a first link 22, a second link 23, and a third link 24. The base body 21 is fixed to the main body 1 of the hand control 100. One end (here, the upper end) of the first link 22 is attached to one end (here, the lower end) of the base body 21 in the vertical direction via the first joint JT1, and the first link extends in the vertical direction. It is rotatably connected around a moving axis A1. One end (here, the upper end) of the second link 23 is connected to the other end (here, the lower end) of the first link 22 through the second joint JT2, and is perpendicular to the first rotation axis A1. and is rotatably connected around a second rotation axis A2 extending in the left-right direction. One end (the rear end in the reference posture) of the third link 24 is connected to the other end (here, the lower end) of the second link 23 via the third joint JT3, and the second rotation axis A2 It is rotatably connected around a third rotation axis A3 that extends parallel to . Furthermore, one end of a swinging member 25 is provided at the other end of the first link 22 so as to be rotatable around the second rotation axis A2. One end (here, the upper end) of an auxiliary link 26 is connected to the other end of the swinging member 25 so as to be rotatable around the ninth rotation axis A9. The ninth rotation axis A9 is parallel to the second rotation axis A2 and extends a predetermined distance away from the second rotation axis. The other end (here, the lower end) of the auxiliary link 26 is rotatably connected to one end of the third link about the tenth rotation axis A10. The tenth rotation axis A10 is parallel to the third rotation axis A3 and extends away from the third rotation axis by the predetermined distance in a direction toward one end of the third link 24. In other words, the auxiliary link 26 and the second link 23 constitute a parallel link.

The wrist portion 12 is rotatably connected to the other end of the third link 24 (the front end in the reference posture) via a fourth joint JT4 around a fourth rotation axis A4. The fourth rotation axis A4 extends perpendicularly to a plane including the third rotation axis A3 and the tenth rotation axis A10.

FIG. 4 is a cross-sectional view showing a longitudinal section of the shoulder portion of the arm portion 11 of the input device shown in FIG. Referring to FIG. 4, the shoulder portion is composed of a base body 21, and the base body 21 is formed into a frame shape. The base body 21 is provided with a first motor M1 facing downward. Specifically, the first motor M1 is provided so that the main shaft S1 is coaxial with the first rotation axis A1. The first motor M1 is provided with a first rotation angle detector E1 that detects the rotation angle of the first motor M1. The first rotational angle detector E1 may be anything that can detect the rotational angle, and may include, for example, an encoder, a tachometer, or the like. The first rotation angle detector E1 is configured here with an encoder directly connected to the main shaft S1 of the first motor M1. The main shaft S1 is coaxially butt-connected to the first rotation axis R1 (see FIG. 5) of the first link 22 using a cylindrical connecting member 62.

FIG. 5 is a cross-sectional view showing a vertical section of the upper arm portion of the arm portion 11 of the right input device 2A of FIG. 3. As shown in FIG. Referring to FIG. 5, the upper arm portion of the arm portion 11 includes a first link 22, a second link 23, and an auxiliary link 26. The first link 22 is formed into a frame shape. A first rotation shaft R1 is provided at one end (here, the upper end) of the first link 22. As described above, the first rotating shaft R1 is coaxially connected to the main shaft S1 of the first motor M1. The first rotation axis R1 and the first motor M1 constitute a first joint JT1, which allows the first link 22 to freely rotate around the first rotation axis A1 with respect to the base body 21. The rotation angle of the first motor M1 due to the rotation of the first link 22 can be detected by the first rotation angle detector E1, and the rotation angle of the first motor M1 due to rotation of the first link 22 can be detected by the first rotation angle detector E1. It is possible to drive R1 rotationally.

The second link is formed into a hollow rod shape. A second rotation shaft R2 is provided at one end (upper end) of the second link 23. This second rotation axis R2 is attached to the other end (lower end) of the first link 22 via a bearing 51 so as to be rotatable around the second rotation axis A2. The second rotation axis R2 and the bearing 51 constitute a second joint JT2, which allows the second link 23 to freely rotate around the second rotation axis A2 with respect to the first link 22. It is possible to do so.

A driven pulley 33 is provided on the second rotating shaft R2. On the other hand, the second motor M2 is provided on the first link 22 so that the central axis of the main shaft S2 is parallel to the second rotation axis A2. The second motor M2 is provided with a second rotation angle detector E2 that detects the rotation angle of the second motor M2. The second rotation angle detector E2 may be any device as long as it can detect the rotation angle, and may include, for example, an encoder, a tachometer, or the like. The second rotation angle detector E2 is configured here with an encoder directly connected to the main shaft S2 of the second motor M2.

A drive pulley 32 is provided on the main shaft S2 of the second motor M2. A belt 34 is wound around the driving pulley 32 and the driven pulley 33. Thereby, the rotation angle of the second motor M2 due to the rotation of the second link 23 can be detected by the second rotation angle detector E2, and the second rotation shaft R2 can be rotationally driven by the second motor M2. It is possible to do so.

Furthermore, a tension coil spring (auxiliary spring) SP1 is provided between a proper location (here, the center) of the second link 23 and the first link 22. This tension coil spring SP1 is provided so that its central axis is orthogonal to the second rotation axis A2 and the third rotation axis A3. Further, this tension coil spring SP1 is designed to apply a predetermined torque to the second rotation axis R2 in the direction of rotation when the second link 23 rotates from the reference posture. This predetermined torque is designed to cancel out a part of the torque (hereinafter sometimes referred to as gravity torque) generated on the second rotating shaft R2 by the weight of the arm part 11 beyond the second link 23 and the wrist part 12. torque is set. As a result, a part of the gravitational torque generated on the second rotating shaft R2 is canceled out by the tension coil spring SP1.

The third link 24 is formed into a rod-shaped box, and main elements are housed inside. A third rotation shaft R3 is provided at one end (rear end) of the third link 24. This third rotation axis R3 is attached to the other end of the second link 23 via a bearing 52 so as to be rotatable around the third rotation axis A3. The third rotation axis R3 and the bearing 52 constitute a third joint JT3, which allows the third link 24 to freely rotate around the third rotation axis A3 with respect to the second link 23. It is possible to do so.

On the other hand, the swinging member 25 is formed into an elongated plate shape, and an eleventh rotation shaft R11 is provided at one end of the swinging member 25. The eleventh rotation shaft R11 is attached to the other end of the first link 22 via a bearing 53 so as to be rotatable about the second rotation axis A2.

Further, a ninth rotation shaft R9 is provided at the other end of the swinging member 25. The ninth rotation axis R9 is rotatably connected to one end of the auxiliary link 26 via a bearing (not shown) about the ninth rotation axis A9.

Further, a tenth rotation axis R10 is provided between one end of the third link 24 and the third joint JT3. The tenth rotation shaft is rotatably connected to the other end of the auxiliary link 26 via a bearing (not shown) about the tenth rotation axis A10. Note that, as described above, the auxiliary link 26 and the second link 23 constitute a parallel link.

Further, a driven pulley 44 is provided on the eleventh rotating shaft R11. On the other hand, a third motor M3 is provided at an appropriate position on the first link 22 so that the central axis of the main shaft S3 is parallel to the eleventh rotation axis A11. The third motor M3 is provided with a third rotation angle detector E3 that detects the rotation angle of the third motor M3. The third rotation angle detector E3 may be any device as long as it can detect the rotation angle, and may include, for example, an encoder, a tachometer, or the like. The third rotation angle detector E3 is configured here with an encoder directly connected to the main shaft S3 of the third motor M3.

A drive pulley 42 is provided on the main shaft S3 of the third motor M3. A belt 34 is wound around the driving pulley 42 and the driven pulley 33.

According to the above configuration related to the auxiliary link 26, when the third link 24 rotates, the auxiliary link 26 moves parallel to the second link 23, thereby the swinging member 25 swings, and this swinging According to the swinging of the member 25, the driven pulley 44, the driving pulley 42, and the third motor M3 rotate in order. Therefore, through this series of operations, the rotation angle of the third motor M3 due to the rotation of the third link 24 can be detected by the third rotation angle detector E3. Further, by performing a reverse operation of this series of operations, it is possible to rotationally drive the third rotating shaft R3 by the third motor M3.

Furthermore, a compression coil spring (not shown) is provided between the swing member 25 and the first link 22. This compression coil spring is designed to constantly generate a torque that rotates the swinging member downward. This torque is set to a torque that cancels out a portion of the gravitational torque generated at the ninth rotation axis R9 due to the third link 24 of the arm portion 11 and the weight of the wrist portion 12. As a result, a part of the gravitational torque generated on the ninth rotation axis R9 is canceled by this coil spring.

{List part 12}
FIG. 6 is a perspective view showing the appearance of the list section 12 of the input device shown in FIG. FIG. 6 shows the wrist section 12 in the standard posture. Referring to FIG. 6, the list section 12 includes, for example, a fourth link 71, a fifth link 72, a sixth link 73, and an operation section 74 as a seventh link. The fourth link 71, the fifth link 72, the sixth link 73, and the operation section 74 constitute a three-axis gimbal (three degrees of freedom). Specifically, the fifth link 72 is rotatable around the fifth rotation axis A5 with respect to the fourth link 71, and the sixth link 73 is rotatable around the fifth rotation axis A5 with respect to the fifth link 72. It is freely rotatable around a sixth rotation axis A6 that is orthogonal to the axis A5, and the operation part 74 is rotatable around a sixth rotation axis A6 that is perpendicular to the fifth rotation axis A5 and the sixth rotation axis A6, and the operation part 74 is rotatable around a sixth rotation axis A6 that is orthogonal to the fifth rotation axis A5 and the sixth rotation axis A6. It is rotatable around the rotation axis A7. Therefore, the operator can rotate the operating section 74 about the intersection of these three rotational axes A5 to A7 to point it in any direction.

Referring to FIGS. 3 and 6, the fourth link 71 is formed in an L-shape, and one end (front end in the reference posture) of the fourth link 71 is connected to the fourth joint JT4 through the fourth joint JT4. It is connected to the other end (the front end in the reference posture) of the third link 24 (see FIG. 3) so as to be rotatable about the fourth rotation axis. The fourth rotation axis A4 is perpendicular to a plane including the third rotation axis A3 and the tenth rotation axis A10.

Referring to FIG. 6, one end of the fifth link 72 (the rear end in the standard posture) connects the fifth joint JT5 to the other end (the rear end in the standard posture) of the fourth link 71. It is connected rotatably around a fifth rotation axis A5 that is perpendicular to the fourth rotation axis A4. The fifth link 72 is formed in an L-shape that is slightly smaller than the fourth link 71. One end (the right end in the standard posture) of the sixth link 73 is attached to the other end (the front end in the standard posture) of the fifth link 72 via the sixth joint JT6, and the sixth rotation axis A6 is rotatably connected around the The sixth link 73 is formed into an L-shape that is slightly smaller than the fifth link 72. One end (left end in the standard posture) of the operating section 74 is connected to the other end (left end in the standard posture) of the sixth link 73 via the seventh joint JT7, and the seventh rotation axis A7 is It is rotatably connected to the surroundings. The operating portion 74 includes a rod-shaped main body and a pair of cylindrical finger insertion portions 74a provided on the main body. The pair of finger insertion portions 74a are configured such that the operator can insert his thumb and index finger into these and operate the pair of finger insertion portions 74a with his thumb and index finger as if pinching or releasing an object. It is composed of

Next, an example of a detailed structure of the list section 12 will be explained.

FIG. 7 is a cross-sectional view showing a vertical cross section of the fourth link 71 and the fifth link 72 of the wrist portion 12 of FIG. FIG. 8 is a cross-sectional view showing a longitudinal section of the sixth link 73 and the operating section 74 of the wrist section 12 of FIG. FIG. 7 shows a cross section of the wrist part 12 cut along a plane including the fifth rotation axis A5 and the sixth rotation axis A6, and FIG. A cross section cut along a plane including axis A7 is shown.

Referring to FIG. 7, the fourth link 71 is formed into an L-shaped box, and the main elements are housed inside the box. A fourth rotation shaft R4 is provided at one end (front end) of the fourth link 71. This fourth rotation axis R4 is attached to the other end (front end) of the third link 24 via a bearing 81 so as to be rotatable around the fourth rotation axis A4. The fourth rotation axis R4 and the bearing 81 constitute a fourth joint JT4, which allows the fourth link 71 to freely rotate around the fourth rotation axis A4 with respect to the third link 24. It is possible to do so.

Further, a fourth motor M4 is provided inside the third link 24 so that the central axis of the main shaft S4 is orthogonal to the fourth rotation axis A4. The fourth motor M4 is provided with a fourth rotation angle detector E4 that detects the rotation angle of the fourth motor M4. The fourth rotation angle detector E4 may be any device as long as it can detect the rotation angle, and may include, for example, an encoder, a tachometer, or the like. The fourth rotation angle detector E4 is configured here with an encoder directly connected to the main shaft S4 of the fourth motor M4. The main shaft S4 of the fourth motor M4 is connected to the fourth rotating shaft R4 via a bevel gear mechanism G1. Thereby, the rotation angle of the fourth motor M4 due to the rotation of the fourth link 71 can be detected by the fourth rotation angle detector E4, and the fourth rotation shaft R4 can be rotationally driven by the fourth motor M4. It is possible to do so.

The fifth link 72 is formed into an L-shaped box, and the main elements are housed inside the box. A fifth rotation shaft R5 is provided at one end (rear end) of the fifth link 72. This fifth rotation axis R5 is attached to the other end (rear end) of the fourth link 71 via a bearing 82 so as to be rotatable around the fifth rotation axis A5. The fifth rotation axis R5 and the bearing 82 constitute a fifth joint JT5, which allows the fifth link 72 to freely rotate around the fifth rotation axis A5 with respect to the fourth link 71. It is possible to do so.

Further, a fifth motor M5 is provided inside the fourth link 71 so that the central axis of the main shaft S5 is perpendicular to the fifth rotation axis A5. The fifth motor M5 is provided with a fifth rotation angle detector E5 that detects the rotation angle of the fifth motor M5. The fifth rotation angle detector E5 may be any device as long as it can detect the rotation angle, and is composed of, for example, an encoder, a tachometer, or the like. The fifth rotation angle detector E5 is configured here with an encoder directly connected to the main shaft S5 of the fifth motor M5. The main shaft S5 of the fifth motor M5 is connected to the fifth rotating shaft R5 via a bevel gear mechanism G2. Thereby, the rotation angle of the fifth motor M5 due to the rotation of the fifth link 72 can be detected by the fifth rotation angle detector E5, and the fifth rotation shaft R5 can be rotationally driven by the fifth motor M5. It is possible to do so.

Furthermore, a compression coil spring SP2 (auxiliary spring) is provided between a proper position of the fourth link 71 (here, the lower end of the rear end in the reference posture) and the fifth rotation axis R5. This compression coil spring SP2 is provided so that its central axis is parallel to the fourth rotation axis A4 and perpendicular to the fifth rotation axis A5. Moreover, this compression coil spring SP2 is designed to apply a predetermined torque to the fifth link 72 in the rotation direction when the fifth link 72 rotates from the reference posture. This predetermined torque is set to a torque that cancels out a portion of the gravitational torque generated on the fifth rotating shaft R5 due to the weight of the portion of the wrist portion 12 beyond the fifth link. As a result, a portion of the gravitational torque generated on the fifth rotating shaft R5 is canceled out by the compression coil spring SP2.

Referring to FIGS. 7 and 8, the sixth link 73 is formed into an L-shaped box, and the main elements are housed inside the box. A sixth rotation shaft R6 is provided at one end (right end) of the sixth link 73. The sixth rotation axis R6 is attached to the other end (front end) of the fifth link 72 via a bearing 83 so as to be rotatable about the sixth rotation axis A6. The sixth rotation axis R6 and the bearing 83 constitute a sixth joint JT6, which allows the sixth link 73 to freely rotate around the sixth rotation axis A6 with respect to the fifth link 72. It is possible to do so.

Further, a sixth motor M6 is provided inside the fifth link 72 so that the central axis of the main shaft S6 is orthogonal to the sixth rotation axis A6. The sixth motor M6 is provided with a sixth rotation angle detector E6 that detects the rotation angle of the sixth motor M6. The sixth rotation angle detector E6 may be any device as long as it can detect the rotation angle, and is composed of, for example, an encoder, a tachometer, or the like. The sixth rotation angle detector E6 is configured here with an encoder directly connected to the main shaft S6 of the sixth motor M6. The main shaft S6 of the sixth motor M6 is connected to the sixth rotating shaft R6 via a bevel gear mechanism G3. Thereby, the rotation angle of the sixth motor M6 due to the rotation of the sixth link 73 can be detected by the sixth rotation angle detector E6, and the sixth rotation shaft R6 can be rotationally driven by the sixth motor M6. It is possible to do so.

Referring to FIG. 8, a seventh rotation shaft R7 is provided at one end (left end) of the operating section 74. This seventh rotation axis R7 is attached to the other end (left end) of the sixth link 73 via a bearing 84 so as to be rotatable around the seventh rotation axis A7. The seventh rotation axis R7 and the bearing 84 constitute a seventh joint JT7, whereby the operating section 74 freely rotates around the seventh rotation axis A7 with respect to the sixth link 73. Is possible.

Further, inside the sixth link 73, a seventh motor M7 is provided such that the central axis of the main shaft S7 is perpendicular to the seventh rotation axis A7. The seventh motor M7 is provided with a seventh rotation angle detector E7 that detects the rotation angle of the seventh motor M7. The seventh rotation angle detector E7 may be any device as long as it can detect the rotation angle, and may include, for example, an encoder, a tachometer, or the like. The seventh rotation angle detector E7 is configured here with an encoder directly connected to the main shaft S7 of the seventh motor M7. The main shaft S7 of the seventh motor M7 is connected to the seventh rotating shaft R7 via a bevel gear mechanism G4. This allows the seventh rotation angle detector E7 to detect the rotation angle of the seventh motor M7 due to the rotation of the operating portion 74, and also allows the seventh rotation shaft R7 to be rotationally driven by the seventh motor M7. Is possible.

<Power transmission path>
Referring to FIGS. 3 and 5, the power transmission path from the first motor M1 to the first joint JT1 is composed of the main shaft S1 and the first rotating shaft R1 of the first motor M1. The power transmission path from the second motor M2 to the second joint JT2 is composed of the main shaft S2 of the second motor M2, the driving pulley 32, the belt 34, the driven pulley 33, and the second rotating shaft R2. The power transmission path from the third motor M3 to the third joint JT3 includes the main shaft S3 of the third motor M3, the driving pulley 42, the belt 45, the driven pulley 44, the 11th rotating shaft R11, the swinging member 25, and the 9th rotating shaft. R9, an auxiliary link 26, a tenth rotating shaft R10, a third link 24, and a third rotating shaft R3.

Referring to FIG. 7, the power transmission path from the fourth motor M4 to the fourth joint JT4 includes the main shaft S4 of the fourth motor M4, the bevel gear mechanism G1, and the fourth rotation shaft R4. The power transmission path from the fifth motor M5 to the fifth joint JT5 includes the main shaft S5 of the fifth motor M5, the bevel gear mechanism G2, and the fifth rotating shaft R5. The power transmission path from the sixth motor M6 to the sixth joint JT6 includes the main shaft S6 of the sixth motor M6, the bevel gear mechanism G3, and the sixth rotating shaft R6. Referring to FIG. 8, the power transmission path from the seventh motor M7 to the seventh joint JT7 is composed of the main shaft S7 of the seventh motor M7, the bevel gear mechanism G4, and the seventh rotating shaft R7.

<Power transmission elements that serve as the basis for calculating the amount of resistance compensation>
Here, the power transmission elements that serve as the basis for calculating the amount of resistance compensation, which will be described later, are the main shafts S1 to S7 of the first to seventh motors M1 to M7. The rotation angles of these main shafts S1 to S7 are detected by the first to seventh rotation angle detectors E1 to E7, which are rotation angle sensors, respectively, and based on these rotation angles AG, the amount of resistance force compensation described later is calculated. , respectively, are calculated. Note that the power transmission element that serves as the basis for calculating the amount of resistance compensation may be another power transmission element. For example, it may be the first to seventh rotation axes R1 to R7 of the first to seventh joints JT1 to JT7, or each gear of a bevel gear mechanism G1 to G4. In this case, encoders may be provided on these power transmission elements to detect their rotation angles.

{Control system configuration}
FIG. 9 is a functional block diagram showing an example of a configuration of a control system of the right input device 2A and the surgical manipulator 202.

Referring to FIG. 9, the right input device 2A includes an input device controller C1. The input device controller C1 is provided, for example, in common to the right input device 2A and the left input device 2B. Since the control of both devices by the input device controller C1 is the same, only the control related to the right input device 2A will be explained here, and the explanation of the control related to the left input device 2B will be omitted. Note that the right input device 2A and the left input device 2B may each be provided with an input device controller C1. The detailed configuration of the input device controller C1 will be explained later. The input device controller C1 is provided at a suitable location on the hand control 100, for example.

In the right input device 2A, the first to seventh rotation angle detectors E1 to E7 detect the rotation angles AG of the first to seventh motors M1 to M7 corresponding to the first to seventh joints JT1 to JT7, respectively. Then, the detected rotation angles AG of the first to seventh motors M1 to M7 are outputted to the input device controller C1, respectively. The input device controller C1 generates a position (position command signal) P of the operating section 74 based on the input rotation angle AG of the first to seventh motors M1 to M7, and controls the position P of the operating section 74 by controlling the position P of the operating section 74. Output to controller C2. Further, the input device controller C1 outputs the drive current CR to the first to seventh motors M1 to M7, respectively, based on the input rotation angle AG of the first to seventh motors M1 to M7.

In the surgical manipulator 202, one or more rotation angle detectors E202 detect the rotation angles of one or more motors M202, which respectively correspond to one or more joints connecting the link 404 of the arm part 401 and the surgical tool 402, The detected rotation angles of one or more motors M202 are each output to the manipulator controller C2. The manipulator controller C2 controls a drive current such that the surgical tool 402 is located at a position corresponding to the position of the operating section 74 based on the position (position command signal) P of the operating section 74 inputted from the input device controller C1. is output to one or more motors M202. As a result, the operation of the link 404 is controlled so that the surgical tool 402 is located at a position corresponding to the position of the operating section 74. At this time, the rotation angle detected by one or more rotation angle detectors E202 is used to feedback control the position of the surgical tool 402.

Note that the posture and operation of the operating unit 74 of the input device 2A are separately detected by an appropriate sensor (not shown) and input to the manipulator controller C2 via the input device controller C1. The manipulator controller C2 controls the surgical tool 02 so that the surgical tool 402 assumes a posture corresponding to the posture of the operating section 74 of the input device 2A and performs an operation corresponding to the operation of the operating section 74 of the input device 2A. The manipulator controller C2 is provided at a suitable location on the hand control 100, for example.

<Input device controller C1>
FIG. 10 is a functional block diagram showing an example of the configuration of the input device controller C1 of FIG. 9. As shown in FIG. Referring to FIG. 10, the input device controller C1 includes a position calculation section 501, a gravity compensation amount calculation section 502, a resistance force compensation amount calculation section 503, a control section (controller) 504, and a servo amplifier (power conversion 505, a storage section (memory device) 506, and an input section (input device) 507.

The position calculation unit 501, the gravity compensation amount calculation unit 502, the resistance force compensation amount calculation unit 503, the control unit 504, and the storage unit 506 are, for example, a calculation unit (not shown) having a processor (not shown) and a memory (not shown). (as shown). A microcontroller or the like is exemplified as the arithmetic unit. Examples of the processor include a CPU, MPU, FPGA (Field Programmable Gate Array), and PLC (Programmable Logic Controller). Examples of the memory include internal memory of a processor such as ROM and RAM, and external memory such as a hard disk drive.

The position calculation unit 501, the gravity compensation amount calculation unit 502, the resistance force compensation amount calculation unit 503, the control unit 504, and the storage unit 506 are configured so that the processor of the calculation unit reads out a predetermined control program stored in the memory of the calculation unit. It is a functional block that is realized by executing. Actually, the computing unit operates as a position computing section 501, a gravity compensation amount computing section 502, a drag force compensation amount computing section 503, a control section 504, and a storage section 506. Note that the position calculation section 501, the gravity compensation amount calculation section 502, and the resistance force compensation amount calculation section 503 may be configured with hardware such as an electronic circuit. Further, the input device controller C1 may be configured with a single computing unit or may be configured with a plurality of computing units.

The position calculation unit 501 generates the position (position command signal) P of the operating unit 74 based on the input rotation angles AG of the first to seventh motors M1 to M7. Since this calculation is well known, its explanation will be omitted.

The gravity compensation amount calculation unit 502 determines the posture of the master arm 10 based on the input rotation angles AG of the first to seventh motors M1 to M7, and uses the posture to determine the rotation axes R1 to R7 of the joints JT1 to JT7. Calculate the gravity canceling torque that cancels the gravity torque generated in . In this case, the gravity compensation amount calculation unit 502 calculates the gravity torque determined for each of the rotation axes R1 to R7 from the obtained posture. In the joints JT2, JT3, and JT5 where coil springs are provided, the torque in the opposite direction to the torque obtained by subtracting the torque generated by the coil spring from the gravitational torque is defined as the gravity canceling torque, and the joint JT1, where the coil spring is not provided, In JT4, JT6, and JT7, torque in the opposite direction to gravity torque is defined as gravity canceling torque. The gravity canceling torque of these first to seventh joints JT1 to JT7 is the gravity compensation amount. The gravity compensation amount calculation unit 502 sends out the gravity compensation amounts of the first to seventh joints JT1 to JT7 as a current command Ig for performing gravity compensation of the gravity compensation amounts.

The resistance force compensation amount calculation unit 503 calculates the resistance force compensation amounts of the first to seventh joints JT1 to JT7 based on the input rotation angles AG of the first to seventh motors M1 to M7, and The force compensation amount is sent out as a current command Id for performing resistance force compensation of the resistance force compensation amount. Adding unit 518 adds current command Ig for gravity compensation and current command Id for resistance compensation to generate compensation current command Ic.

Servo amplifier (power converter) 505 outputs drive current CR corresponding to compensation current command Ic to the first to seventh motors M1 to M7, respectively. As a result, the first to seventh motors M1 to M7 generate torque according to the compensation current command Ic (current command Ig for gravity compensation + current command Id for resistance force compensation), and as a result, the master arm 10 The posture is controlled so as not to change due to gravity, and an operating force is generated that is compensated for the resistance force of the master arm 10. Here, in this embodiment, since gravity compensation is performed on the operating force, the difference between the resistance force and the amount of resistance force compensation is the operating force that is the force required for the operator to operate the master arm 10. Become.

The storage unit 506 stores various data and the like. In particular, the ranking power compensation amount is stored in advance in the storage unit 506. FIG. 12 is a graph showing an example of ranks of the magnitude of the ranking force compensation amount. Referring to FIG. 12, the force compensation amount is composed of the viscous force compensation amount and the inertial force compensation amount, and the viscosity adjustment coefficient Kd, which takes a value from 0.0 to 1.0, is the relative value of the viscous force compensation amount. The inertia adjustment coefficient Km, which takes a value from 0.0 to 1.0, represents the relative magnitude of the inertial force compensation amount. These are divided into five levels in 0.2 increments and ranked from A to E in descending order of value.

Furthermore, when the designated force compensation amount is inputted from the input section 507 in association with the operator ID, as described later, the storage section 507 stores these as the designated force compensation amount for each operator. FIG. 13 is a graph showing an example of the specified force compensation amount for each operator. In FIG. 13, X to Q represent operator IDs. Referring to FIG. 13, the designated force compensation amount is composed of a viscous force compensation amount and an inertial force compensation amount. The viscosity adjustment coefficient Kd and the inertia adjustment coefficient Km, which represent the viscous force compensation amount and the inertial force compensation amount, respectively, are associated with the operator ID to constitute the designated force compensation amount for each operator.

The input unit 507 is a device for an operator to input various data to the control unit 504. The input unit 507 includes, for example, a keyboard, a mouse, a touch panel, and the like. The operator inputs, for example, the rank of the force compensation amount, the inertia adjustment coefficient Km, the viscosity adjustment coefficient Kd, and the operator ID as the specified force compensation amount for each operator through the input unit 507. Therefore, the input unit 507 functions as an input device for specifying the rank of the force compensation amount and as an input device for specifying the operator corresponding to the specified force compensation amount. Note that this designated force compensation amount may be configured to be input to the control unit 504 by an input means other than the input unit 507. An example of such input means is input means via a data communication network.

The control unit 504 outputs the position (position command signal) P of the operation unit 74 generated by the position calculation unit 501 to the manipulator controller C2. Further, the control unit 504 appropriately processes various data input from the input unit 507.

In particular, when the ranks A to E of the ranking force compensation amount are input from the input unit 507, the control unit 504 reads out the inertia adjustment coefficient Km and the viscosity adjustment coefficient Kd corresponding to the input ranks A to E, and The inertia adjustment coefficient Km and the viscosity adjustment coefficient Kd used in the inertia adjustment coefficient multiplication unit 516 and the viscosity adjustment coefficient multiplication unit 520, which will be described later, are respectively replaced with the read inertia adjustment coefficient Km and the viscosity adjustment coefficient Kd.

In addition, the control unit 504 inputs the inertia adjustment coefficient Km, the viscosity adjustment coefficient Kd, and the operator ID (X to Q) inputted as a set from the input unit 507 as the designated force compensation amount for each operator, to the inertia adjustment coefficient Km The viscosity adjustment coefficient Kd and the operator ID (X to Q) are associated with each other and stored in the storage unit 506. Then, when the operator ID (X to Q) is input from the input unit 507, the inertia adjustment coefficient Km and the viscosity adjustment coefficient Kd corresponding to the operator ID are read from the storage unit 506, and the inertia adjustment coefficient multiplier described later The inertia adjustment coefficient Km and viscosity adjustment coefficient Kd used in 516 and viscosity adjustment coefficient multiplication unit 520, respectively, are replaced with the read inertia adjustment coefficient Km and viscosity adjustment coefficient Kd, respectively. Note that the operator inputs an arbitrary inertia adjustment coefficient Km and a viscosity adjustment coefficient Kd, and converts them into an arbitrary inertia adjustment coefficient Km and a viscosity adjustment coefficient Kd in the inertia adjustment coefficient multiplication section 516 and the viscosity adjustment coefficient multiplication section 520. It may be possible to change it.

<Resistance force compensation amount calculation unit 503>
FIG. 11 is a block diagram showing the configuration of the resistance force compensation amount calculating section 503 of FIG. 9. As shown in FIG. FIG. 11 shows the resistance force compensation amount calculation unit 503 corresponding to one of the first to seventh joints JT1 to JT7. In other words, resistance force compensation for the operating force is performed for each joint JT1 to JT7.

Referring to FIG. 11, the drag force compensation amount calculation unit 503 includes a rotation angle delay unit 511, a first subtraction unit (velocity acquisition unit) 512, a rotation angular velocity delay unit 513, a second subtraction unit (acceleration acquisition unit) 514, an inertia Coefficient multiplication section (inertia force compensation calculation section) 515, inertia adjustment coefficient multiplication section 516, primary filter 517, addition section 518, viscosity adjustment coefficient multiplication section (viscous force compensation amount calculation section) 519, viscosity adjustment coefficient multiplication section 520, It includes a primary filter 521 and first and second switches SW1 and SW2.

The rotation angles AG detected by the first to seventh rotation angle detectors E1 to E7 are sampled at predetermined sampling intervals. The rotation angle delay unit 511 delays the input rotation angle AG by one sampling interval. The first subtraction unit 512 subtracts the rotation angle AGd delayed by the rotation angle delay unit 511 from the rotation angle AG at the current time to generate a rotation angular velocity v. Here, the difference ΔAG between the successive rotation angles AG corresponds to the rotation angular velocity v, which is the differential of the rotation angle AG, when the sampling interval Δt is a unit time.

The rotation angular velocity delay unit 513 delays the input rotation angular velocity v by one sampling interval. The second subtraction unit 514 subtracts the rotational angular velocity vd delayed by the rotational angular velocity delay unit 513 from the rotational angular velocity v at the current time to generate the rotational angular acceleration α. Here, the difference Δv between the successive rotational angular velocities v corresponds to the rotational angular acceleration α, which is the differential of the rotational angular velocity v, when the sampling interval Δt is a unit time.

The first switch SW1 allows or prevents transmission of the rotational angular acceleration α to the inertia coefficient multiplier 515 by turning ON or OFF. The first switch SW1 is turned on or off by the control unit 504 when an ON command or an OFF command for the first switch SW1 is input from the input unit 507.

The inertia coefficient multiplier 515 multiplies the rotational angular acceleration α by the inertia coefficient M to generate an inertia force compensation amount fi. The inertia adjustment coefficient multiplier 516 multiplies the inertia force compensation amount fi by the inertia adjustment coefficient Km to generate an adjusted inertia force compensation amount. Here, the inertia adjustment coefficient Km is a numerical value in the range of 0.0 or more and 1.0 or less. The primary filter 517 removes noise caused by sampling from the adjusted inertial force compensation amount, and sends it out as a current command Ii for inertial force compensation.

Note that the time constant of the primary filter 517 may be made adjustable. In this case, when the operator inputs the time constant of the primary filter 517 from the input unit 507, the control unit 504 replaces the time constant of the primary filter 517 with the input time constant. The reason why the time constant can be adjusted in this way is that noise differs depending on the input device 2. This also applies to the primary filter 521, which will be described later.

On the other hand, the second switch SW2 allows or prevents transmission of the rotational angular velocity v to the viscosity coefficient multiplier 519 by turning ON or OFF. The second switch SW2 is turned on or off by the control unit 504 when an ON command or an OFF command for the second switch SW2 is input from the input unit 507.

The viscosity coefficient multiplier 519 multiplies the rotational angular velocity v by the viscosity coefficient D to generate a viscous force compensation amount fv. The viscosity adjustment coefficient multiplication unit 520 multiplies the viscosity force compensation amount fv by the viscosity adjustment coefficient Kd to generate an adjusted viscosity force compensation amount. Here, the viscosity adjustment coefficient Kd is a numerical value in the range of 0.0 or more and 1.0 or less. The primary filter 521 removes noise caused by sampling from the adjusted viscous force compensation amount, and sends it out as a current command Iv for viscous force compensation. The current command Ii for inertial force compensation and the current command Iv for viscous force compensation constitute a current command Id for resistive force compensation.

Note that the time constant of the primary filter 521 may be made adjustable. In this case, when the operator inputs the time constant of the primary filter 521 from the input unit 507, the control unit 504 replaces the time constant of the primary filter 521 with the input time constant.

The adding unit 518 adds the resistance force compensation current command Id and the gravity compensation current command Ig to generate a compensation current command Ic.
[motion]
First, the operations of the right input device 2A and the surgical manipulator 202 will be explained.

Referring to FIGS. 3 and 6, the operator inserts, for example, a thumb and an index finger into a pair of finger insertion sections 74a of the operating section 74 of the right input device 2A. Then, when the operator moves the operating section 74 left and right, the arm section 11 rotates left and right about the first rotation axis A1 of the first joint JT1. When the operator moves the operating section 74 back and forth, the arm section 11 rotates back and forth about the second rotation axis A2 of the second joint JT2. When the operator moves the operating section 74 up and down, the arm section 11 rotates up and down about the third rotation axis A3 of the third joint JT3. When the operator rotates the wrist portion 12 left and right, the wrist portion 12 rotates left and right about the fourth rotation axis A4 of the fourth joint JT4. When the operator operates the operating section 74 to change the direction (posture) of the operating section 74, the operating section 74 moves (takes the posture) in the desired direction. Therefore, the operator can operate the input device 2A as intended.

When the operation section 74 of the right input device 2A is operated, this operation is converted into a position command signal P by the input device controller C1, and the manipulator controller C2 selects the surgical manipulator 202 according to this position command signal P. The operation of the selected arm section 401 is controlled so that the surgical tool 402 of the selected arm section 401 is located at a position corresponding to the operating section 74. As a result, the selected arm section 401 of the surgical manipulator 202 operates according to the operation of the right input device 2A by the operator. Selection of the arm portion 401 is performed by operating the pedal 4 of the hand control 100. Note that the operation of the left input device 2B is also similar to this.

Next, gravity compensation and resistance force compensation for the operating force of the right input device 2A will be explained. It is assumed that the first and second switches SW1 and SW2 are turned on.

Referring to FIGS. 3 and 10, when the operation unit 74 of the right input device 2A is operated, the gravity compensation amount calculation unit 502 in the input device controller C1 The posture of the master arm 10 is determined based on the rotation angle AG of is set as the gravity compensation amount, and this gravity compensation amount is sent out as a current command Ig for performing gravity compensation of the gravity compensation amount.

On the other hand, the resistance force compensation amount calculation unit 503 calculates the resistance force compensation amounts of the first to seventh joints JT1 to JT7 based on the input rotation angles AG of the first to seventh motors M1 to M7, and The resistance force compensation amount is sent out as a current command Id for performing resistance force compensation of the resistance force compensation amount. Then, the adder 518 adds the current command Ig for gravity compensation and the current command Id for resistance compensation to generate a compensation current command Ic, and the servo amplifier 505 generates a drive current corresponding to the compensation current command Ic. CR is output to the first to seventh motors M1 to M7, respectively.

As a result, the first to seventh motors M1 to M7 generate torque according to the current command Ig and the current command Id, and as a result, the posture of the master arm 10 is controlled so as not to change due to gravity, and the master A force-compensated operating force is generated for the resistance force of the arm 10. Therefore, by appropriately adjusting the force compensation amount (resistance force compensation amount) for this resistance force, the operating force can be set finely.

<Adjustment of resistance compensation amount>
Referring to FIGS. 10 to 12, the operator inputs one of ranks A to E of the ranking force compensation amount from the input unit 507 according to his/her preference. Then, the control unit 504 reads the inertia adjustment coefficient Km and the viscosity adjustment coefficient Kd corresponding to the ranks A to E from the storage unit 506, and reads out the inertia adjustment coefficient Km and the viscosity adjustment coefficient Kd corresponding to the ranks A to E from the storage unit 506, and reads out the inertia adjustment coefficient Km and the viscosity adjustment coefficient Kd corresponding to the ranks A to E, and reads out the inertia adjustment coefficient Km and the viscosity adjustment coefficient Kd corresponding to the ranks A to E, and reads out the inertia adjustment coefficient Km and the viscosity adjustment coefficient Kd corresponding to the ranks A to E from the storage unit 506, and reads out the inertia adjustment coefficient Km and the viscosity adjustment coefficient Kd corresponding to the ranks A to E, and reads out the inertia adjustment coefficient Km and the viscosity adjustment coefficient Kd corresponding to the ranks A to E from the storage unit 506. The coefficient Km and the viscosity adjustment coefficient Kd are replaced with the read inertia adjustment coefficient Km and viscosity adjustment coefficient Kd, respectively. Thereby, the operating force can be adjusted to the operating force desired by the operator.

<Adjusting the amount of resistance compensation when there are multiple operators>
Next, the adjustment of the amount of resistance compensation when there are multiple operators will be described.

Referring to FIGS. 10, 11, and 13, if there are multiple operators, each operator is assigned an operator ID (X to Q), for example. Each operator previously inputs the desired inertia adjustment coefficient Km and viscosity adjustment coefficient Kd (designated force compensation amount) and his or her operator ID (X to Q) from the input unit 507. Then, the control unit 504 converts the input inertia adjustment coefficient Km, viscosity adjustment coefficient Kd, and operator ID (X to Q) into the inertia adjustment coefficient Km, viscosity adjustment coefficient Kd, and operator ID (X to Q). are stored in the storage unit 506 in correspondence with each other.

Thereafter, the operator who actually intends to operate the input device 2 (here, the right input device 2A) of the surgical manipulator 202 inputs his or her operator ID (X to Q) from the input unit 507. Then, the control unit 504 reads the inertia adjustment coefficient Km and the viscosity adjustment coefficient Kd corresponding to the operator ID (X to Q) from the storage unit 506, and inertia adjustment coefficient multiplication unit 516 and viscosity adjustment coefficient multiplication unit 520 respectively. The inertia adjustment coefficient Km and viscosity adjustment coefficient Kd used are replaced with the read inertia adjustment coefficient Km and viscosity adjustment coefficient Kd, respectively. Thereby, the operating force can be set to the operating force desired by the operator.

<If you want to set the resistance compensation amount to zero>
Referring to FIGS. 10 and 11, if the operator wants to set the inertia force compensation amount to zero, the operator inputs an OFF command for the first switch SW1 from the input unit 507. Then, the first switch SW1 is turned off by the control unit 504, and the inertial force compensation amount becomes zero. Furthermore, if the operator wishes to set the viscous force compensation amount to zero, the operator inputs an OFF command for the second switch SW2 from the input section 507. Then, the second switch SW2 is turned off by the control unit 504, and the viscous force compensation amount becomes zero. Thereby, the operating force can be easily set for each joint.

Therefore, the operator can finely and easily adjust the operating force to an operating force that is easy for the operator to operate.

(Other embodiments)
In the above embodiment, the arm portion 11 has three joints, but the arm portion 11 may have one or more joints.

In the above embodiment, the wrist portion 12 has four joints, but the wrist portion 12 may have one or more joints.

In the above embodiment, the rotational angular velocity and rotational angular acceleration are obtained from the rotational angle of the power transmission element, but the velocity (angular velocity) and acceleration (each acceleration) of the power transmission element may be acquired using a speed sensor and an acceleration sensor. .

From the above description, many improvements and other embodiments will be apparent to those skilled in the art. Accordingly, the above description should be construed as illustrative only.

The input device for a surgical manipulator of the present invention is useful as an input device for a surgical manipulator that can finely set the operating force.

1 Main body 2 Input device 2A Right input device 2B Left input device 3 Support member 4 Pedal 5 Display section 10 Master arm 11 Arm section 12 Wrist section 21 Base body 22 First link 23 Second link 24 Third link 25 Swing member 26 Auxiliary Links 51 to 53 Bearing 62 Connecting member 71 Fourth link 72 Fifth link 73 Sixth link 74 Operating section 74a Finger insertion sections 81 to 84 Bearing 100 Hand control 200 Robot-assisted surgical system 201 Positioner 202 Surgical manipulator 203 Operating table 204 Patient 401 Arm section 402 Surgical tool 404 Link 501 Position calculation section 502 Gravity compensation amount calculation section 503 Resistance compensation calculation section 504 Control section 505 Servo amplifier 506 Storage section 507 Input section A1 to A7 First to seventh rotation axes A9 to A11 9th to 11th rotation axis AG Rotation angle CR Drive current E1 to E7 1st to 7th rotation angle detector G1 to G4 Bevel gear mechanism JT1 to JT7 1st to 7th joint M1 to M7 1st to 7th motor P Operation unit positions R1 to R7 First to seventh rotation axes R9 to R11 Ninth to eleventh rotation axes S1 to S7 Main shaft SP1 Tension coil spring SP2 Compression coil spring SW1 First switch SW2 Second switch

In order to achieve the above object, an input device for a surgical manipulator according to an aspect of the present invention includes a master arm having a joint and having an operating section operated by an operator at a distal end thereof; A force compensation amount for the inertial force of the master arm is calculated based on a motor that drives the joint via a power transmission element, and an acceleration of the power transmission element that is moved by the operator's operation of the operation unit, and the force is calculated. a controller that controls the operation of the motor so as to cancel the inertia force by performing force compensation of a compensation amount; a storage device that stores a plurality of ranked force compensation amounts ranked in order of magnitude of the compensation amount; an input device for specifying one of a plurality of ranking force compensation amounts, and the controller adjusts the force compensation amount for the inertial force to the ranking force compensation amount specified by the input device. is configured to do so.

According to the above configuration, the controller calculates the amount of force compensation for the inertial force of the master arm based on the acceleration of the power transmission element that is moved by the operation of the operation unit by the operator, and performs the force compensation of this force compensation amount. Since the operation of the motor is controlled, the operating force can be finely set by, for example, selecting the force compensation amount for the inertia force of the master arm as the force compensation amount. Moreover, since the controller adjusts the amount of force compensation for the inertial force, the operating force can be adjusted. In addition, when a ranked force compensation amount is input into the input device, the amount of force compensation is ranked as a compensation amount for force compensation so as to obtain the operating force preferred by the operator. Since the amount is adjusted, the operating force can be set to the operating force desired by the operator.

According to this configuration, the surgical manipulator can be operated according to the position of the operating section.
In order to achieve the above object, an input device for a surgical manipulator according to an aspect of the present invention includes a master arm having a joint and having an operating section operated by an operator at a distal end thereof; A force compensation amount for the viscous force of the master arm is calculated based on a motor that drives the joint via a power transmission element, and the speed of the power transmission element that is moved by the operation of the operation unit by the operator, and the amount of force compensation for the viscous force of the master arm is calculated. a controller that controls the operation of the motor so as to cancel the viscous force by performing force compensation of a compensation amount; a storage device that stores a plurality of ranked force compensation amounts ranked in order of magnitude of the compensation amount; an input device for specifying one of a plurality of ranking force compensation amounts, the controller adjusting the force compensation amount for the viscous force to the ranking force compensation amount specified by the input device. is configured to do so.
Here, the "force compensation amount" means the magnitude of the force that cancels out part or all of the viscous force of the master arm. Further, when the operator operates the master arm, a resistance force from the master arm is applied to the operator. This drag force includes a viscous force that is proportional to the viscosity and velocity of the master arm. Hereinafter, the amount of compensation for viscous force will be referred to as "the amount of viscous force compensation." Therefore, if the gravity applied to the master arm is ignored (or if the operating force is compensated for by gravity), the difference between the resistance force and the amount of resistance force compensation is the amount required for the operator to operate the master arm. It becomes a power, a manipulative force.
According to the above configuration, the controller calculates the amount of force compensation for the viscous force of the master arm based on the speed of the power transmission element that moves according to the operation of the operation unit by the operator, and performs the force compensation of this amount of force compensation. Since the operation of the motor is controlled, the operating force can be finely set by selecting the force compensation amount for the viscous force of the master arm as the force compensation amount. Moreover, since the controller adjusts the amount of force compensation for the viscous force, the operating force can be adjusted . In addition, when a ranked force compensation amount is input into the input device, the amount of force compensation is ranked as a compensation amount for force compensation so as to obtain the operating force preferred by the operator. Since the amount is adjusted, the operating force can be set to the operating force desired by the operator.
The controller includes a storage device that stores designated force compensation amounts in association with each of the plurality of operators, and an input device for specifying the operator corresponding to the designated force compensation amount, and the controller The force compensation amount for the viscous force may be adjusted to a specified force compensation amount corresponding to the operator specified by the input device.
According to this configuration, by storing the designated force compensation amount for force compensation so that each operator obtains the desired operating force in correspondence with each operator, the operating force can be adjusted by the operator. Can be set to desired operating force.
The controller includes a speed acquisition unit that acquires the speed of the power transmission element, and a force compensation amount for the viscous force based on the speed of the power transmission element acquired by the speed acquisition unit and the viscosity of the master arm. The motor may include a viscous force compensation amount calculation section that calculates the amount of force compensation, and a power converter that supplies the motor with electric power for performing force compensation of the amount of force compensation for the viscous force.
According to this configuration, an input device for a surgical manipulator that can finely set the operating force and furthermore adjust the operating force can be realized.
The master arm has a plurality of the joints, and the input device includes a plurality of the power transmission elements and a plurality of the motors in which each of the motors drives each of the joints via each of the power transmission elements. , the controller is configured to adjust the viscous force of the portion of the master arm driven by each joint based on the speed of each power transmission element moved by the operator's operation of the operating section for each joint. The motor may be configured to calculate a force compensation amount for the force compensation amount, and control the operation of each of the motors so as to perform force compensation according to the force compensation amount.
According to this configuration, in the input device of a surgical manipulator including a master arm having a plurality of joints, the operating force can be finely set and furthermore, the operating force can be adjusted.
The controller may be configured to adjust, for each joint, a force compensation amount for a viscous force of a portion of the master arm driven by each joint.
According to this configuration, in the input device of a surgical manipulator including a master arm having a plurality of joints, the amount of force compensation can be adjusted for each joint, so that the operating force can be adjusted more finely.
The controller may further be configured to control the operation of the motor so that the attitude of the master arm does not change due to gravity.
According to this configuration, when the operator stops the master arm, the master arm stops at the stop position.
The controller further calculates the position of the operating part based on the position of the power transmission element that moves due to the operation of the operating part by the operator, and outputs the calculated position of the operating part to a surgical manipulator. It may be configured as follows.
According to this configuration, the surgical manipulator can be operated according to the position of the operating section.

Claims (16)

a master arm having joints and having an operating section operated by an operator at its tip;
a motor that drives the joints of the master arm via a power transmission element;
A force compensation amount for the inertial force of the master arm is calculated based on the acceleration of the power transmission element moved by the operation of the operating unit by the operator, and force compensation is performed for the force compensation amount to cancel the inertial force. a controller that controls the operation of the motor;
An input device for a surgical manipulator, wherein the controller is configured to adjust a force compensation amount for the inertial force. A storage device for storing a plurality of ranking force compensation amounts ranked in descending order of compensation amount, and an input device for specifying any one of the plurality of ranking force compensation amounts,
The input device for a surgical manipulator according to claim 1, wherein the controller is configured to adjust a force compensation amount for the inertial force to a ranked force compensation amount specified by the input device. comprising a storage device that stores specified force compensation amounts in correspondence with each of the plurality of operators, and an input device for specifying the operator corresponding to the specified force compensation amount,
The surgical manipulator according to claim 1, wherein the controller is configured to adjust a force compensation amount for the inertial force to a specified force compensation amount corresponding to the operator specified by the input device. Input device. The controller includes an acceleration acquisition unit that acquires the acceleration of the power transmission element, and a force compensation amount for the inertial force based on the acceleration of the power transmission element acquired by the acceleration acquisition unit and the inertia of the master arm. 4. A power converter according to claim 1, further comprising: an inertial force compensation amount calculation section that calculates the amount of force compensation for the inertial force; and a power converter that supplies the motor with electric power for performing force compensation of the amount of force compensation for the inertial force. Input device for surgical manipulator. The master arm has a plurality of the joints,
The input device includes a plurality of the power transmission elements, and a plurality of the motors in which each of the motors drives each of the joints via each of the power transmission elements,
The controller is configured to calculate, for each joint, a force compensation amount for the inertial force of a portion of the master arm driven by each joint, based on the acceleration of each power transmission element moved by the operator's operation of the operating section. The input device for a surgical manipulator according to any one of claims 1 to 4, wherein the input device for a surgical manipulator according to any one of claims 1 to 4 is configured to calculate the amount of force compensation and control the operation of each of the motors so as to perform force compensation according to the force compensation amount. The input device for a surgical manipulator according to claim 5, wherein the controller is configured to adjust, for each joint, a force compensation amount for an inertial force of a portion driven by each joint of the master arm. . The input device for a surgical manipulator according to any one of claims 1 to 6, wherein the controller is further configured to control the operation of the motor so that the posture of the master arm does not change due to gravity. The controller further calculates the position of the operating part based on the position of the power transmission element that moves due to the operation of the operating part by the operator, and outputs the calculated position of the operating part to a surgical manipulator. An input device for a surgical manipulator according to any one of claims 1 to 7, configured as follows. a master arm having joints and having an operating section operated by an operator at its tip;
a motor that drives the joints of the master arm via a power transmission element;
A force compensation amount for the viscous force of the master arm is calculated based on the speed of the power transmission element that moves due to the operation of the operation unit by the operator, and the force compensation amount is performed to cancel the viscous force. a controller that controls the operation of the motor;
An input device for a surgical manipulator, wherein the controller is configured to adjust a force compensation amount for the viscous force. A storage device for storing a plurality of ranking force compensation amounts ranked in descending order of compensation amount, and an input device for specifying any one of the plurality of ranking force compensation amounts,
The input device for a surgical manipulator according to claim 9, wherein the controller is configured to adjust a force compensation amount for the viscous force to a ranked force compensation amount specified by the input device. comprising a storage device that stores specified force compensation amounts in correspondence with each of the plurality of operators, and an input device for specifying the operator corresponding to the specified force compensation amount,
The surgical manipulator according to claim 9, wherein the controller is configured to adjust the force compensation amount for the viscous force to a specified force compensation amount corresponding to the operator specified by the input device. input device. The controller includes a speed acquisition unit that acquires the speed of the power transmission element, and a force compensation amount for the viscous force based on the speed of the power transmission element acquired by the speed acquisition unit and the viscosity of the master arm. 12. The power converter according to claim 9, further comprising: a viscous force compensation amount calculation section that calculates the amount of force compensation for the viscous force; and a power converter that supplies the motor with electric power for performing force compensation of the amount of force compensation for the viscous force. Input device for surgical manipulator. The master arm has a plurality of the joints,
The input device includes a plurality of the power transmission elements, and a plurality of the motors in which each of the motors drives each of the joints via each of the power transmission elements,
The controller is configured to determine, for each joint, a force compensation amount for the viscous force of a portion of the master arm driven by each joint, based on the speed of each power transmission element moved by the operator's operation of the operating section. The input device for a surgical manipulator according to any one of claims 9 to 12, wherein the input device is configured to calculate the amount of force compensation and control the operation of each of the motors so as to perform force compensation of the force compensation amount. The input device for a surgical manipulator according to claim 13, wherein the controller is configured to adjust, for each joint, a force compensation amount for a viscous force of a portion driven by each joint of the master arm. . The input device for a surgical manipulator according to any one of claims 9 to 14, wherein the controller is further configured to control the operation of the motor so that the posture of the master arm does not change due to gravity. The controller further calculates the position of the operating part based on the position of the power transmission element that moves due to the operation of the operating part by the operator, and outputs the calculated position of the operating part to a surgical manipulator. An input device for a surgical manipulator according to any one of claims 9 to 15, configured as follows.

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