JP4377827B2 - Manipulator device - Google Patents

Description

  The present invention relates to a manipulator device such as a manipulator for assisting surgery and a manipulator for repairing a narrow part such as an energy device, and in particular, there is little influence of interference due to the mutual operation of positioning and posture determination of a treatment section, and a fine operation and a high-precision operation. It is easy to use, and it is related to high operability, reliability and safety.

  In laparoscopic surgery such as cholecystectomy, as shown in FIG. 28, several small holes Ka are made in the abdomen of patient K, trocars 1 are attached to them, and trocars 1 are inserted into these holes. The endoscope 2, the forceps 3, and the like are inserted, and an operator (usually a surgeon) S performs an operation while viewing the image of the endoscope 2 on the monitor 4. Since such an operation method does not require laparotomy, the burden on the patient is small, and the number of days until recovery and discharge from the operation is greatly reduced. For this reason, expansion of application fields is expected.

  2. Description of the Related Art A medical manipulator (robot forceps) 10 that incorporates robot technology into conventional forceps is known (see, for example, Patent Document 1). FIG. 29 is a perspective view showing an example of such a medical manipulator. The medical manipulator 10 is connected to an operation command unit 11 having a posture operation unit 11a and a treatment operation unit 11b, a connection unit 12 having one end connected to the operation command unit 11, and the other end of the connection unit 12. The working unit 13 having the support portions 13a and 13b that support the treatment instrument 14 so that the posture can be changed in two or more degrees of freedom and the operation command from the posture operation unit 11a are sent to the support portions 13a and 13b to change the posture of the treatment tool 14. A control unit (not shown) that changes the operation command and sends the operation command from the treatment operation unit 11b to the treatment device 14 to operate the treatment device 14 is provided.

  A medical manipulator having a degree of freedom suitable for a suture ligation operation is known (see, for example, Patent Document 2). FIG. 30 is a perspective view showing an example of such a medical manipulator. The medical manipulator 20 includes a working unit 21, an operation command unit 22, and a connecting unit 23 whose both ends are connected to the work unit 21 and the operation command unit 22. A treatment section (gripper) 24 to be applied is provided.

  The working unit 21 includes a yaw axis joint support part 21a and a roll axis joint support part 21b as support parts that support the treatment part 24 so that the posture can be changed with two degrees of freedom. The operation command unit 22 includes a posture operation unit 22 a that operates a posture with two degrees of freedom, and a treatment operation unit 22 b that opens and closes the treatment unit 24. In FIG. 30, reference numeral 25 denotes a support, 26 denotes a trocar, and 27 denotes a control circuit.

  Furthermore, a medical manipulator that performs a positioning operation and a posture determination operation by separate operations is known (see, for example, Patent Document 3). FIG. 31 is a side view showing an example of such a medical manipulator. The medical manipulator 30 includes a working unit 31, an operation unit 32, and a connecting unit 33 having both ends connected to the working unit 31 and the operation unit 32. A portion (gripper) 34 is provided. The operation unit 32 includes a first operation unit 32 a that performs positioning and a second operation unit 32 b that determines the posture of the treatment unit 34. Since the positioning operation and the posture determination operation are performed as separate operations, the influence of the mutual operation is small, the fine operation is facilitated, and the reliability and safety can be improved.

  The medical manipulators 10 to 30 shown in FIGS. 29 to 31 are connected to and integrated with the operation unit (master) and the forceps tip hand (slave) with respect to the remote operation type master / slave manipulator. A certain operator can perform both a simple and reliable large and quick operation and a fine work and an operation from a difficult angle, which are the advantages of a manipulator. Since the tip portion is provided with a bending / rotating joint, the posture of the hand can be freely moved, and the sewing operation and the ligation operation from various directions that have been difficult with conventional forceps are facilitated. In addition, the right hand can be used with a conventional surgical instrument, such as a robot forceps and a left hand a conventional forceps. Furthermore, since the system is simple and compact, there is an advantage that it can be introduced at low cost.

A manipulator having a similar configuration is also suitable for work in a place where it is difficult for an operator to work directly on the spot, that is, for repairing a narrow part such as an energy device. Naturally, the dimensions (length, thickness, size, etc.) of the manipulator are designed according to the work content and work area. Therefore, it is not necessarily limited to medical use.
JP 2000-350735 A JP 2002-102248 A JP 2001-276091 A

  The manipulator device such as the medical manipulator described above has the following problems. In other words, in manipulators for narrow part repair such as surgery support manipulators and energy devices, when guiding the position / posture of the treatment section, there is little influence of interference between the positioning operation and the posture determination, and fine operations and high-precision operations Is required to be easy. That is, high operability, reliability, and safety are required. For that purpose, it is important how to configure the operation unit which is a direct interface. In particular, in the medical manipulators 10 to 30 described above, there is a limitation that the master and the slave are integrated, so that the shape, size, arrangement, etc. of the operation unit have a great influence on the high accuracy of the operation and the operability. Effect.

  29 and 30 detects the posture of the treatment operation unit of the operation unit, the joint angle (yaw axis, pitch axis, yaw axis, roll axis, etc.) by an angle detection sensor such as a potentiometer, This is used as a command value for the joint angle of the working unit. This method is the same as the master-slave relationship by a normal master-slave manipulator. In this case, since the posture of the treatment operation unit and the posture of the treatment unit of the working unit are the same and can be operated intuitively, it is employed in a general master-slave manipulator.

  However, when considering application to laparoscopic surgery, etc., the position of the trocar is not in a state that can be changed at any time during the operation, so when trying to guide the working part to the desired position, the operating part moves over a wide range. Often there is a need. Accordingly, the operator (operator) must operate the right, left, and left and right medical manipulators with the left and right arms greatly widened. In this case, in order to guide the posture of the treatment operation unit to a predetermined posture, an excessive burden is placed on the wrist posture of the operator himself. In particular, when the operator performs operations with the left and right arms greatly expanded, the posture of working with the distal end of the treatment section facing inward (center direction of the left and right) places an excessive burden on the posture of the operator's own wrist. become. Therefore, only a surgery in a narrow area where the operator's own wrist is not burdened can be performed. In addition, in the medical manipulators 10 to 30 and the like, if the operator's own wrist is operated with an unreasonable posture, it becomes difficult to reduce the influence of interference due to the mutual operations of the positioning operation and the posture determination. High precision operation becomes impossible.

  Further, in the case of the medical manipulator 20, during suturing, the curved needle can be guided in an ideal trajectory by operating only the roll shaft, but an excessive burden is placed on the posture of the operator's wrist. Then, even if only the roll axis is operated and the curved needle is guided in an ideal trajectory, other axes such as the yaw axis and the common roll axis move, so the curved needle should be guided in the ideal trajectory. Is very difficult.

  Accordingly, the present invention provides a manipulator device that is less affected by the interference between the positioning operation of the treatment section and the operation of determining the posture, is easy to perform a fine operation and a high-precision operation, and has high operability, reliability, and safety. It is an object.

  In order to solve the above problems and achieve the object, the manipulator device of the present invention is configured as follows.

  According to one aspect of the present invention, a treatment portion inserted into a subject, a working portion that supports the treatment portion so as to be rotatable about the first axis and the second axis, and the working portion is on the distal end side. And an operation part provided on the base end side of the arm part, the operation part being arranged at a position shifted from the longitudinal direction of the arm part, A mounting portion provided on the base end side; an operating rod supported rotatably about a third axis extending from the mounting portion toward the proximal end portion of the arm portion; and the operating rod provided on the operating rod. An operation device that causes the operation part to rotate about the first axis and the second axis, and an end on the third axis opposite to the attachment part of the operation rod and the treatment part The distance between the operating rod and the operating rod is substantially constant regardless of the rotational position of the operating rod. Regulator device is provided.

  According to the present invention, there is little influence of interference due to the mutual operation of positioning and posture determination of the treatment section, the burden on the operator is small, fine operation and high precision operation are easy, operability, reliability, safety High-performance operation is possible.

  1 is a perspective view showing a medical manipulator system 100 according to a first embodiment of the present invention, FIG. 2 is a side view showing a medical manipulator 200 incorporated in the medical manipulator system 100, and FIG. FIG. 4 is an explanatory view showing the operation unit 220 incorporated in the medical manipulator 200, FIG. 5 is a perspective view showing the main part of the operation unit 220, and FIG. These are block diagrams which show the structure of the control apparatus 300 integrated in the medical manipulator 100. FIG.

  As shown in FIG. 1, the medical manipulator system 100 includes a medical manipulator 200 that operates in a master / slave manner, and a control device 300 that controls and drives the medical manipulator 200.

  As shown in FIG. 2, the medical manipulator 200 includes a working unit 210 that is inserted into a body cavity of a patient, an operating unit 220 that is operated by an operator, and a connecting unit 230 that connects these together. ing.

  As shown in FIG. 3, the working unit 210 includes a pitch axis rotation support unit 211 attached to a distal end side of an arm member 231 described later, and a pitch axis (first axis) direction on the pitch axis rotation support unit 211. And a treatment instrument 213 supported by the yaw axis rotation support unit 212 in the yaw axis (second axis) direction. The treatment tool 213 is configured to freely open and close.

  The operation unit 220 includes a bracket 221 connected to the base end side of the coupling unit 230, and a columnar operation rod 222 attached to the bracket 221 so as to be rotatable about an operation rod shaft P (third axis). And an operation device 223 attached to the operation rod 222. Note that the operating rod axis P, which is the central axis of the operating rod 222, is disposed at a position that intersects with the central axis Q of the arm portion 231 of the connecting portion 230 (a straight line connecting the distal end and the proximal end of the arm portion 231). Let this intersection position be W. The operation device 223 of the operation rod 222 has a function of determining the posture of the treatment tool 213.

  4, the operation device 223 opens and closes a horizontal dial (yaw axis operation: first dial) 224, a vertical dial (pitch axis operation: second dial) 225, and the treatment instrument 213. Trigger 226 and an operation mode changeover switch 227 are provided. The horizontal dial 224 and the vertical dial 225 can be operated with the thumb, and the trigger 226 and the operation mode changeover switch 227 can be operated with the index finger. Of course, there is no problem even if the horizontal dial 224 and the operation mode changeover switch 227 are operated with an index finger, the vertical dial 225 is a thumb, and the trigger 226 is a middle finger.

  When the treatment unit is an electric knife that does not require an opening / closing operation, the degree of freedom for opening and closing and the drive system are unnecessary, and therefore, for example, the trigger 226 need not be provided.

  The horizontal dial 224, the vertical dial 225, and the trigger 226 each incorporate a sensor that detects the amount of rotation thereof, and the sensor signal is processed by the control device 300.

  The horizontal dial 224 and the vertical dial 225 incorporate an incremental encoder that detects a rotation angle as a sensor that detects a relative rotation amount with the operation rod 222. Specifically, the incremental encoder detects the amount of dial rotation in the control cycle interval, and adds the angle corresponding to the detected amount to the current target value. The relative rotation amount with respect to the operation unit posture is calculated.

  Since the horizontal dial 224 and the vertical dial 225 have a cylindrical shape whose reference position is not clear, the relative rotation amount of the dial from the state before the control cycle interval is converted into the target value of the working unit 210 by the control device 300. By calculating, it saves the trouble of adjusting the dial to the reference posture every time the manipulator is used, and the operability is improved.

  If an absolute value output sensor (such as an absolute encoder or a potentiometer) is applied to the horizontal dial 224 and the vertical dial 225, a reference position indicating unit (reference mark or reference shape) for clarifying the reference posture is provided on the dial unit. Equipped with For example, as shown in FIGS. 7 to 10, the horizontal dial 224 is formed in a shape such that the reference position can be recognized by tactile sensation. 7 to 10, the same functional parts as those in FIG. 4 are denoted by the same reference numerals.

  7 is a reference portion 224p formed in a linear concave shape parallel to the rotation axis of the lateral dial 224, FIG. 8 is a reference portion 224q formed in a flat surface, and FIG. 9 is a reference portion 224r formed in a spherical concave shape. FIG. 10 includes a reference portion 224s formed in a spherical convex shape. In addition, a reference line may be displayed on the dial 224 and a mark or scale corresponding to the operation rod 222 may be stamped. The reference position indicating unit may be arranged in a place where it can be easily recognized visually, or may be arranged in a place where the finger operating the dial assumes a natural posture (a natural and neutral posture, not to move to either). good. Furthermore, it may be arranged at a location close to another dial so as to reduce the amount of movement of the operated finger.

  Further, when the mark or the reference shape coincides with the reference position, the operator may be able to recognize the click feeling. In order to generate the click feeling, for example, a configuration as shown in FIG. That is, the operation bar 222 is provided with a recess 222a, the base end of the spring 222b is fixed to the recess 222a, and the spherical body 222c is attached to the tip of the spring 222b. Further, the lateral dial 224 is provided with a recess 224k. Thus, when the lateral dial 224 reaches the reference position, the operator feels a click feeling if the sphere 222c is lightly engaged with the recess 224k.

  Further, instead of generating a click feeling, the information read by the sensor can be presented by monitor display or sound. In the vicinity of the rotation position where the click sensation occurs, the sphere 222c tries to fit into the recess 224k. Therefore, skill is required to freely rotate the dial by a small amount. By adopting the configuration presented in (3), it is possible to easily perform fine adjustment of rotation even for an unskilled operator.

  Of course, it is also possible to use both a click feeling and a monitor display or sound presentation. With such a configuration, the recognition rate of the reference posture is increased, and the safety is improved when the instrument passes through the trocar. .

  On the other hand, a device such as the trigger 226 that has a limited operating range is provided with a slide potentiometer or the like that calculates the posture target value by processing the amount detected by the sensor as an absolute value. In addition, the trigger 226 may be provided with a lock mechanism for fixing at the bottom dead center.

  The structure of the operation unit 220 described above will be described in more detail. As can be seen from FIG. 4, the operation rod 222 has a simple cylindrical shape. For this reason, the structure is relatively easy to clean. FIG. 5 is an exploded perspective view showing a sensor portion of the lateral dial 224. A non-contact / reflective optical encoder is used as the sensor unit, and a system with high safety and reliability can be constructed with the following configuration. In FIG. 5, 224a indicates a lid portion, 224b indicates a wheel, and 224c indicates an irradiation light receiving portion. The irradiation light receiving unit 224c is provided on the operation rod 222 side, and by arranging the reflection surface on the wheel 224b side, a portion requiring wiring and a portion unsuitable for washing with water can be arranged inside the operation rod 222 to ensure cleanability. it can. On the other hand, the wheel 224b has a removable structure, and it is easy to remove dirt that has entered the gap between the operation rod 222 and the wheel 224b.

  By the procedure, blood or the like adheres to the operator's hand, and blood also adheres to the medical manipulator 200 operated by the hand. If the dial is rotated while blood is on the surface of the operation dial, a portion to which blood has adhered may spread to the irradiation light receiving unit 224c. For this reason, two irradiation light-receiving parts 224c are provided for one wheel 224b, and the two irradiation light-receiving parts 224c are configured to output the same amount of change. Since the two irradiation light receiving units 224c usually have the same output, the control device 300 compares the output values of the two, and even if the change in the output of one of the two stops, the output change occurs in the other. If it is confirmed, it is determined that it is being operated, and calculation is performed. Even if blood enters the gap and adheres to the irradiation light receiving unit 224c, it can be recognized by the other irradiation light receiving unit 224c, so that the function of the sensor can be continued. Further, even if blood adheres to a part of the wheel 224b, the operation of that part is not disabled. Even if the blood adhering part of the wheel 224b passes on one irradiation light receiving part 224c and no output is made, the wheel 224b passing through the upper part of the other irradiation light receiving part 224c located away from the irradiation light receiving part 224c. Can be read normally because no blood is attached. Thereby, the reliability of the operation unit 220 can be improved.

  In general, when using an absolute value output sensor such as a potentiometer whose rotation angle detection range is limited to about 0 to 300 degrees, a plurality of potentiometers are arranged out of phase with each other, and these outputs are combined. If the angle is determined, the restriction of the rotation angle can be eliminated as if it were an incremental encoder.

  The operation mode switch 227 is a switch for switching operation modes such as start / end of a master / slave operation and an initial posture return operation.

  The connecting part 230 includes a tubular arm part 231 and a drive part 232 provided on the base end side of the arm part 231. The driving force generated by the driving unit 232 is transmitted to the working unit 210 via a power transmission unit (not shown) composed of wires, rods, gears and the like disposed in the arm unit 231.

  As shown in FIG. 6, the control device 300 includes a power supply unit 301, a calculation unit 302, a motor drive circuit unit 303, a safety protection device 304, various switches 305 and 306, and the like.

  The power supply unit 301 supplies power obtained from an external power supply via a transformer to the calculation unit 302 and the motor drive circuit unit 303.

  The calculation unit 302 includes a CPU, a storage device, a logic circuit, an interface, and the like, reads the operation angle of the operation unit 220, generates a control target value of the drive unit 232 that drives the work unit 210, and a drive unit It has a function of reading information of an angle sensor 233 that measures the operating angle of 232, comparing control target values of the drive unit 232, and calculating a motor command input so as to eliminate the deviation. Further, signal inputs to the various switches 305, 306, etc. are monitored, and control calculations are performed according to a predetermined program. The calculation unit 302 repeats these processes according to a predetermined control cycle.

  The motor drive circuit 303 is a circuit that outputs electric power to the drive unit 232 in accordance with a command input from the calculation unit 302. The safety protection device 304 is a device that cuts off the power to the medical manipulator 200 and immediately stops its operation in preparation for an abnormal situation such as a calculation cycle abnormality of the calculation unit 302, a motor drive circuit abnormality, or an emergency stop command. . The various switches 305 and 306 are mounted on the casing of the control device 300, and are used for switching commands for operating states of the medical manipulator 200, power switching, and the like.

  The man-machine interface is a device that is provided in or connected to the casing of the control device 300, and is used to switch the operation state of the medical manipulator 200, switch the power supply, display the state of the operation mode, and the like.

  The medical manipulator system 100 configured as described above is handled as follows. The operator (operator) inserts the working unit 210 into the abdominal cavity from the trocar of the patient's abdominal wall and operates the operating unit 220 to guide the treatment tool 213 of the working unit 210 to a predetermined position and posture. Perform mirror surgery.

  The operator can guide the working unit 210 to an arbitrary position in the abdominal cavity by using the trocar as a fulcrum by grasping and moving the operating rod 222 greatly. Further, the operation device 223 can be used to perform a posture operation or a gripping operation of the treatment tool 213.

  At this time, since the operating rod 222 is rotatably supported around the operating rod axis P with respect to the bracket 221, even if the operating rod 222 is moved greatly, the operating device 223 always operates with respect to the operator. Can be kept in an easy-to-use orientation, and an excessive burden is not placed on the wrist posture of the operator. In addition, the operation rod 222 can be rotated to an unnecessary angle by allowing only a predetermined necessary angle range (for example, an angle within ± 90 degrees, ± 30 degrees, ± 45 degrees, or asymmetrical) to be rotatable. This is effective in preventing cable breakage and improving stability when inserting a trocar.

  In addition, although three posture axes are usually required for determining the posture of the treatment instrument 213, the operation device 223 can be operated only by two posture axes, a yaw axis and a pitch axis. Even in this case, the treatment tool 213 can be guided to an arbitrary posture by rotating the arm portion 231 around the central axis Q. At this time, since the operation rod axis P and the central axis Q intersect each other, even when the operation rod 222 is rotatably supported, only the operation rod 222 is gripped to support other parts. Without this, the operation rod 222 is rotated around the central axis Q, and the posture guidance around the central axis Q with respect to the treatment instrument 213 is facilitated.

  Conversely, the external force (translational force, moment) received by the treatment instrument 213 is arranged so that the operating rod axis P and the central axis Q intersect with each other, so that the external force is operated via the operating rod 222. Therefore, it is possible to prevent the working unit 210 from being inadvertently rotated around the central axis Q.

  As described above, according to the medical manipulator system 100 according to the present embodiment, the operation device 223 can maintain an easy-to-operate posture for the operator even during the position guidance of the working unit. In addition, since the posture guidance around the central axis Q of the connecting portion 230 of the treatment instrument 213 is facilitated, it is easy to eliminate the influence of the mutual interference between the positioning operation and the posture determination, and fine operations and high-precision operations can be performed. It is possible to improve operability, reliability and safety. Since the movement of the thumb and the movement of the treatment section can be easily matched or matched, the operation becomes intuitive.

  By providing the operation mode changeover switch 227 in the operation device 223, all operations can be performed with one hand without performing a holding operation or a supporting operation with one hand, and the operability is further improved. Since unnecessary operations can be eliminated, safety can be greatly improved.

  Further, when the trigger 226 is grasped to the bottom dead center, the trigger 226 is locked there, and the treatment instrument 213 can be fixed in a closed state. By holding the trigger 226 once again, the lock is released and the treatment instrument 213 returns to the open state. This eliminates the need for the operator to apply force to the trigger 226 while the treatment instrument 213 holds the suturing needle, so that it is possible to concentrate on the posture determination operation and the suturing operation of the working unit 210, and a safer operation is possible. It becomes.

  As shown in FIG. 2, the grip portion center G1 of the operating rod 222 is arranged so as to be closer to the center of gravity G2 of the medical manipulator 200 than the intersection position W between the central axis Q and the operating rod axis P. Thereby, it becomes easy to support the moment around the central axis Q of the connecting portion 230 due to the mass of the drive portion 232 having a relatively large mass, and the operability is improved.

  Further, when the centers of the horizontal dial 224, the vertical dial 225, the trigger 226, and the operation mode changeover switch 227 are projected from a predetermined direction (that is, one plane including the operation rod axis P). By providing it so that it can be placed on the top), it is possible to operate with either hand regardless of left-hand or right-hand use. The restriction at the time of changing the left and right hands of the medical manipulator 200 during the operation and the change operation with the assistant can be eliminated, and the safety is improved as the operation time is shortened.

  In addition, by making the horizontal dial 224, the vertical dial 225, the trigger 226, and the operation mode changeover switch 227 symmetrical with respect to one plane including the operation rod axis P, the left and right hands feel uncomfortable. Operation becomes possible.

  The ratio between the dial operation amount and the work unit operation amount and the operation direction can be set by the operator's intention through an interface provided in the control device 300. At this time, the calculated relative amount of the posture operation amount may be added to the posture target value after taking into account the set ratio and the sign of orientation. Since it has a function that can arbitrarily set computation processing for the horizontal dial 224 and the vertical dial 225, even if the posture axis configuration of the working unit 210 is different, it can be operated using the same operation unit 220. It becomes possible. For example, as shown in FIG. 12, when the working unit 210 is configured with degrees of freedom around the yaw axis and the roll axis, the horizontal dial 224 is assigned to the yaw axis operation and the vertical dial 225 is assigned to the roll axis operation. You may do it.

  At the time of suturing, the curved needle can be guided in an ideal trajectory by operating only the roll shaft. However, in the case of the manipulator according to the present embodiment, only the vertical dial 225 is moved by the thumb movement, and the roll is moved. Only the axis can be operated, and the curved needle can be guided in an ideal trajectory.

  Further, the sizes of the horizontal dial 224 and the vertical dial 225 may be changed as appropriate. That is, the operation range and operation speed around the yaw axis and the roll axis in the working unit 210 are not necessarily the same depending on the arrangement of the degree of freedom of the joint, the main work contents, and the like. For example, when performing a sewing operation, it is necessary to move a large angular range around the roll axis. For this reason, by assigning a roll axis to the longitudinal dial 225 and reducing the radius thereof, the operator can move the roll axis within a large angle range with a small amount of operation, thereby increasing the efficiency of the sewing work. Can do.

  The medical manipulator system 100 is not limited to the above-described embodiment. For example, as shown in FIG. 13, the same effect can be obtained even if the central axis Q and the operating rod axis P are not orthogonally crossed. Can do.

  FIG. 14 is a view showing a modification of the operation unit 220 incorporated in the medical manipulator system 100 described above. 14, the same functional parts as those in FIG. 4 are denoted by the same reference numerals, and detailed description thereof is omitted.

  In the operation unit 220 shown in FIG. 14, a small lateral dial 228 is used instead of the lateral dial 224. Similar effects can be obtained in this modification. In particular, it is effective in the case of a system in which the operation amounts of both are equivalent, such as instructing the operation of a manipulator composed of a yaw axis and a pitch axis as shown in FIG.

  FIG. 15 is a diagram showing a modification of the operation unit 220 incorporated in the medical manipulator system 100 described above. In FIG. 15, the same functional parts as those in FIG. 4 are denoted by the same reference numerals, and detailed description thereof is omitted.

  In the operation unit 220 shown in FIG. 15, a track ball 240 capable of inputting two-way simultaneous position commands is used instead of the horizontal dial 224 and the vertical dial 225. In this modification, the same effect as that obtained when the horizontal dial 224 and the vertical dial 225 are used is obtained, and the movement of the finger between the horizontal dial 224 and the vertical dial 225 is not necessary. The movement of the finger can be minimized.

  In order to improve operability, the change amount (speed) of the position command value due to the horizontal rotation and the vertical rotation of the trackball 240 is detected, these change amounts are compared, and the position command value having a large change amount is prioritized. By adopting such a configuration, the yaw axis and the pitch axis, or the yaw axis and the roll axis can be moved independently, so that the safety can be further improved. In the case of an operation command that guides the position, the movement time can be shortened, and therefore, a method of usually moving two directions simultaneously may be adopted.

  In the operation unit 220 shown in FIG. 16, a touch pad 241 capable of inputting two-way simultaneous position commands is used instead of the horizontal dial 224 and the vertical dial 225. That is, the movement of the finger in the horizontal direction on the touch pad 241 corresponds to the horizontal dial 224, and the movement of the finger in the vertical direction corresponds to the vertical dial 225. Similar effects can be obtained.

  Here, in order to avoid an unintended operation, a method of performing the horizontal direction operation and the vertical direction operation independently from each other will be described with reference to FIG. For example, in the yaw axis operation amount θy and the roll axis operation amount θr, the target value is calculated by comparing the magnitudes of the two and comparing the respective values with the reference values. Specifically, the following method is taken.

  The absolute value | Δθx | (x = y, r) of the amount of change in the manipulated variable is calculated every fixed manipulated variable detection period (for example, equal to the control period). When the absolute value of the change amount of the operation amount is smaller than the reference value Na close to zero, it is determined that this is not an operation intended by the operator but a change due to camera shake or signal noise. In this case, the operation amount is set as the posture target value. Is not added to (region A). Next, the reference value Nb larger than the reference value Na is compared with the absolute value of the change amount. When both absolute values of the operation amounts are larger than the reference value Nb, it is determined that the operation amounts of both are the movements intended by the operator, and both the operation amounts are added to the posture target value (area C). Further, a region B is defined as a range in which the absolute values of the manipulated variables of both are larger than the reference value Na and smaller than Nb. In region B, the two values are compared, the larger one is added to the target value, and the smaller one is not added. It is determined that the small change amount in the region B is not regarded as the movement intended by the operator.

  If one is in the region C and the other is in the region B, the value of the region C is adopted as it is, and the value of the region B is not adopted. However, one is the value of the region B, but when the other is the region A or zero, the value of the region B is also adopted. This is because it can be judged that it is operating slowly by itself. When both are in the area A, they are not adopted. If you want to operate very slowly to reach the area A, or if you want to operate more than one at the same time in the area B, you can change the ratio setting at the time of target value conversion. The operation amount calculation switching function is effective. In addition, by having the function of setting the size of the reference value Na and the reference value Nb, an operation unit according to the operator's preference can be provided, which contributes to improvement in operability.

  In this way, the change amount (speed) of the position command value by the horizontal direction operation and the vertical direction operation is detected, the change amounts are compared, and the command value having a large change amount is given priority according to the magnitude of the change amount, By doing so, it is possible to move only the direction in which the operator intends to move, and an accurate and safe operation can be realized. Such a determination may be used even when the horizontal dial 224 and the vertical dial 225 are used.

  Furthermore, a method for calculating a target value for a manipulated variable command value in two directions by a method different from the above will be described with reference to FIG. The amount of change in the operation amount obtained every fixed detection period (for example, equal to the control period) of the operation amount can be handled as a vector. For example, it is assumed that the amounts of change in the yaw axis direction and the pitch axis direction are Δθy and Δθp, respectively, and the magnitude of the obtained vector is | v |. If the magnitude of the vector is smaller than a certain reference value, it is determined as a change due to signal noise or camera shake, and a zero vector is set so as not to be added to the target value (area D). If the manipulated variable vector corresponds to the region E in the vicinity of the Δθy axis that is larger than the reference value, the target value is calculated by replacing it with a Δθy direction vector having a magnitude | v |. Similarly, when the manipulated variable vector corresponds to the region F in the vicinity of the Δθp axis, the target value is calculated by replacing it with a Δθp direction vector having a magnitude | v |. As a result, the change in the position command value in the two directions is compared, that is, the vector is calculated, and the position command value having a large change amount is transmitted with priority, as well as the magnitude proportional to the operation amount regardless of the operation direction. This command value can be transmitted. By performing such calculation, an unexpected two-axis operation is prevented, and an independent operation of only one axis is possible. Of course, by setting a region G not included in the region E and the region F, the intended two-axis simultaneous operation can be performed. If the boundary between the region E and the region F is set so that the region G is eliminated, simultaneous two-axis operation can be completely prevented. By providing means that can adjust this area setting by the control device 300 or the operation unit 220, it is possible to provide a manipulation, a configuration of the manipulator to be used, and an operation according to the operator's unique habit.

  FIG. 19 is a diagram illustrating a modification of the operation unit 220. The operation rod 222 has a built-in lock mechanism that can be fixed to the bracket 221 at an arbitrary or predetermined angle, and can be fixed / released by a lock switch 229 provided on the operation device 223. . This makes it possible to rotate at the time of operation, to fix the angle at the end of the operation, or to rotate at the time of guiding the operation rod 222, and to fix it when operating at a substantially constant position. Thus, it is possible to select rotation and fixation as appropriate, and the overall operability can be improved.

  FIG. 20 is a side view showing an operation unit 250 according to a modification of the operation unit 220. The operation unit 250 includes a bracket 251 connected to the base end side of the connecting unit 230, an operation rod 252 attached to the bracket 251 so as to be rotatable about the operation rod axis P, and an attachment to the operation rod 252. The operation device 253 is provided. The operation rod shaft P, which is the central axis of the operation rod 252, is disposed at a position that intersects the central axis Q of the arm portion 231 of the connecting portion 230.

  The operation rod 252 has a function of positioning the working unit 210, and the operation device 253 has a function of determining the posture of the treatment tool 213. The operating rod 252 is formed according to the shape of the hand, and in particular, a trackball 254 described later is arranged on the slope.

  The operation device 253 includes a trackball 254 that can simultaneously perform a horizontal operation (yaw axis operation) and a vertical operation (pitch axis operation), a trigger 255 for opening and closing the treatment instrument 213, and an operation mode changeover switch 256. And. The trackball 254 can be operated with the thumb, and the trigger 255 and the operation mode changeover switch 256 can be operated with the index finger.

  Each of the trackball 254 and the trigger 255 is incorporated with a sensor for detecting the amount of movement, and the sensor signal is processed by the control device 300.

  For example, a sensor used for the trackball 254 incorporates a photo sensor, and detects a relative movement amount in two directions. Specifically, the biaxial component of the relative displacement of the trackball and sensor in the control cycle interval is calculated and added to the target value. The attitude of the operating unit after starting the system or starting the master / slave operation The relative amount of is calculated. Since the trackball 254 has a spherical shape whose reference position is not clear, the posture operation amount is read as a relative value as a relative value, and the control device 300 uses the manipulator to convert the trackball 254 to the target value of the working unit 210. The operability is improved by eliminating the trouble of adjusting to the reference posture each time. In order to improve the noise resistance of the sensor signal, the sensor output is converted into a serial signal by a conversion circuit in the vicinity of the photosensor inside the operation unit 250 and then transmitted to the control device 300.

  According to the operation unit 250 configured as described above, since the position of the trackball 254 is arranged on the slope of the operation rod 252, there is less burden on the finger, hand, and wrist while holding the operation rod 252. The operability of the trackball 254 can be further improved. As described above with reference to FIG. 5, the movement of the trackball corresponding to one reflector is also read by a photosensor corresponding to a plurality of irradiation light receiving units, and the signals are compared, so that safety can be achieved. Needless to say, the reliability and reliability can be improved. Further, the trackball is configured to be removable from the operation rod 252 and the trackball that is soiled during the operation can be appropriately washed and reused.

  In addition, there are joysticks, force sensors, cross keys / cross buttons, etc. as operation devices. For example, with a joystick, the detected angle can be replaced with a speed command, and with a force sensor, it is proportional to the detected force. The detected direction may be replaced with a predetermined speed command. In addition, since a force sensor gives a command by force sense, there is an advantage that finger movement itself can be minimized. In these various operation devices, the method described with reference to FIG. 17 or FIG. 18 can be used for the conversion processing between the operation amount and the target value.

  In addition, in stick operation using a joystick or force sensor, not only the stick is moved back and forth and left and right, but also the degree of freedom such as twisting operation of the stick and pushing and pulling operation on the operation part is added. The range of setting changes according to the number of degrees of freedom is expanded. For example, in the case of a joystick operation, the front and rear operations can be assigned to the pitch axis operation, the left and right operations can be assigned to the yaw axis operation, and the twist operation can be assigned to the roll axis operation.

  In a stick operation using a force sensor, a force sensor is attached to the base of the stick, and a force generated when the stick is tilted back and forth and left and right is converted as an operation amount. Similarly, the twisting operation can be detected as torque by the force sensor and converted to a target value. Furthermore, with respect to the force in the push-pull direction, a change in force corresponding to this operation can be converted as an operation amount with a new degree of freedom. In addition, signal processing may be performed as an alternative to a switch signal such as mode switching. Furthermore, due to the difference between the force applied when the operator touches the stick during operation and the detection amount when the operator is not touching the stick, the pushing force causes the intended operation or the instrument to tilt. If it is determined that the operator is not touching or the touching force is weak, the force and torque input of the other shafts in that state are set to the target values. By not converting as, it is possible to prevent unintended movement.

  FIG. 21 is a perspective view showing an operation unit 260 according to a modification of the operation unit 220. In FIG. 21, the same functional parts as those in FIGS. 2 and 4 are denoted by the same reference numerals, and detailed description thereof is omitted.

  The operation unit 220 includes a bracket 261 once connected to the base end side of the coupling unit 230. The bracket 261 is screwed to the connecting portion 230 with a screw 262, and the fixing position of the bracket 261 can be changed within a certain angular range by removing the screw. Of course, the fixing operation may be performed with a single touch using a pin or the like, or may be fixed at an arbitrary continuous position.

  On the other end side of the bracket 261, there are provided a cylindrical operation rod 222 that is rotatably attached around the operation rod axis P, and an operation device 223 that is attached to the operation rod 222.

  If comprised in this way, since an operator can hold the operating rod 222 in an optimal angular position, work efficiency can be improved more.

  22 and 23 are views showing a main part of a medical manipulator 270 according to the second embodiment of the present invention. 22 and 23, the same functional parts as those in FIGS. 2, 4 and 12 are denoted by the same reference numerals, and detailed description thereof is omitted.

  The medical manipulator 270 includes a roll shaft support portion 271 attached to the distal end side of the arm member 231, a pitch shaft rotation support portion 211 rotatably supported by the roll shaft support portion 271 in the roll axis direction, and the pitch The yaw axis rotation support part 212 supported by the axis rotation support part 211 in the pitch axis (first axis) direction and the yaw axis rotation support part 212 rotated in the yaw axis (second axis) direction And a supported treatment device 213. The treatment tool 213 is configured to freely open and close. In the case of a treatment instrument such as an electric knife, an opening / closing operation is not necessary.

  The operation unit 220 includes a bracket 221 connected to the proximal end side of the coupling unit 230, a columnar operation rod 222 attached to the bracket 221 so as to be rotatable about an operation rod axis P, and the operation rod. And an operation device 223 attached to 222. The operation rod axis P, which is the central axis of the operation rod 222, is disposed at a position that intersects the central axis Q of the arm portion 231 of the connecting portion 230. The operation rod 222 has a function of positioning the working unit 210, and the operation device 223 has a function of determining the posture of the treatment tool 213.

  The operation device 223 includes a horizontal dial (yaw axis operation: first dial) 224, a vertical dial (pitch axis operation: second dial) 225, and a roll direction dial (roll axis operation: 23rd dial). 272, a trigger 226 for opening and closing the treatment instrument 213, and an operation mode changeover switch 227 are provided. The horizontal dial 224 and the vertical dial 225 can be operated with the thumb, and the roll direction dial 272, the trigger 226, and the operation mode changeover switch 227 can be operated with the index finger. Of course, there is no problem even if the horizontal dial 224 and the operation mode changeover switch 227 are operated with an index finger, the vertical dial 225 is a thumb, and the trigger 226 is a middle finger.

  The horizontal dial 224, the vertical dial 225, the roll direction dial 272, and the trigger 226 each incorporate a sensor that detects the amount of rotation and the amount of movement, and the sensor signal is processed by the control device 300. In addition, an incremental encoder is incorporated in sensors used for the horizontal dial 224, the vertical dial 225, and the roll direction dial 272 to detect an angle.

  According to the second embodiment, since the posture of the treatment tool 213 can be controlled in the directions of three axes including the roll axis in addition to the two axes of the yaw axis and the pitch axis, the operability is improved in a finer work. It becomes possible to make it.

  FIG. 24 is a view showing a modified example of the medical manipulator 270. 24, the same reference numerals are given to the same functional parts as those in FIG. 22, and detailed description thereof will be omitted.

  In this modification, the seesaw switch 273 is used instead of the roll direction dial 272. Even in this modification, the same effect as that obtained when the roll direction dial 272 is used can be obtained.

  When the treatment unit is an electric knife that does not require an opening / closing operation, a degree of freedom for opening / closing and a drive system are not required, and it is not necessary to arrange the trigger 226 on the operation unit. Alternatively, when the trigger 226 is used as a changeover switch, the horizontal dial 224 and the vertical dial 225 are assigned to the yaw axis operation and the pitch axis operation, and the horizontal dial 224 or the vertical dial 225 is assigned to the roll axis direction operation. You may make it switch to. Of course, a trackball may be used instead of the horizontal dial 224 and the vertical dial 225. By using the trigger 226 as a changeover switch, a plurality of working units can be operated with the same operating unit.

FIG. 25 is a side view showing a main part of the medical manipulator 280 according to the first reference example of the present invention. In FIG. 25, the same functional parts as those in FIG. 2 are denoted by the same reference numerals, and detailed description thereof is omitted.

  The medical manipulator 280 includes a working unit 210 that is inserted into the body cavity of a patient, an operating unit 281 that is operated by an operator, and a connecting unit 230 that connects these together.

  The operating portion 281 is connected to the base end side of the connecting portion 230 so as to be slidable in the circumferential direction (in the direction of arrow R in FIG. 25), and around the operating shaft P with respect to the bracket 282. A cylindrical operation rod 222 that is rotatably attached and an operation device 223 attached to the operation rod 222 are provided.

  Here, the operating rod axis P, which is the central axis of the operating rod 222, is disposed at a position that intersects with the central axis Q of the arm portion 231 of the connecting portion 230. Let this intersection position be W. Note that the center (fourth axis) of the arc of the bracket 282 is located at the intersection position W and can be rotated in the direction of arrow R in FIG.

  According to the medical manipulator 280 configured in this manner, the operating rod 222 can be rotated also in the direction of arrow R in FIG. 25, so that the operator can hold the operating rod 222 at a more optimal angular position. Therefore, work efficiency can be further improved.

FIG. 26 is a side view showing a main part of a medical manipulator 290 according to a second reference example of the present invention. In FIG. 26, the same functional parts as those in FIG. 25 are denoted by the same reference numerals, and detailed description thereof is omitted.

  The medical manipulator 290 includes a working unit 210 that is inserted into a body cavity of a patient, an operation unit 291 that is operated by an operator, and a connecting unit 230 that connects these units integrally.

  The operation unit 291 includes a first bracket 292 connected to the base end side of the coupling unit 230, a second bracket 293 attached to the first bracket 292 so as to be rotatable about the T axis, and the second bracket 293. A cylindrical operation rod 222 attached to the bracket 293 so as to be rotatable around the operation rod axis P, and an operation device 223 attached to the operation rod 222 are provided.

  Here, the operating rod shaft P, which is the central axis of the operating rod 222, and the central axis Q of the arm portion 231 of the connecting portion 230 may coincide with each other depending on the rotation angle around the T axis. The rotation operation around the central axis Q of the arm portion 231 is limited by a cable or a cable. Of course, the first bracket 292 may be attached in a direction rotated 90 degrees with respect to the Q axis.

  According to the medical manipulator 290 configured in this manner, the operator can hold the operation rod 222 at a more optimal angular position, so that the work efficiency can be further improved.

FIG. 27 is a perspective view showing an endoscope support device (another device) 400 used in combination with the medical manipulator 100 according to the first embodiment of the present invention. In the figure, K indicates a patient's body cavity.

  The operation device 223 can operate the endoscope support apparatus 400 as shown in FIG. 27 by switching the operation mode. The operation mode can be switched by using an operation mode changeover switch 227 provided in the second operation unit, or a separate foot switch or the like. A system for displaying / notifying the operation mode may be provided.

  The endoscope support apparatus 400 includes a robot arm 410 attached to the floor surface and a laparoscope 420 attached to the robot arm 410.

  The robot arm 410 includes a first rotation shaft portion 411 having a vertical axis with respect to a fixed surface, a first arm 412 fixed to the output shaft side of the first rotation shaft portion 411, and a first arm. A second rotating shaft portion 413 having a vertical axis at the tip end of 412, a third rotating shaft portion 414 having a horizontal axis attached to the second rotating shaft portion 413, and a third A second arm 415 fixed to the output shaft side of the rotation shaft portion 414, and a fourth arm rotatably supported on the tip end portion of the second arm 415 so that the longitudinal direction of the second arm 415 becomes the rotation shaft. The rotation shaft portion 416, the fifth rotation shaft 417 supported to be rotatable in the orthogonal direction with respect to the fourth rotation shaft portion 416, and supported to be rotatable in the orthogonal direction with respect to the fifth rotation shaft. And a sixth rotation shaft 418.

  The first rotating shaft portion 411, the second rotating shaft portion 413, the third rotating shaft portion 414, and the sixth rotating shaft portion 418 are provided with actuators for joint driving. Note that the sixth rotation shaft portion 418 may be fixed at a predetermined angle. Further, the fourth and fifth rotating shafts 416 and 417 may be passive joints or may include joint driving actuators.

  By enabling the endoscope support apparatus 400 configured as described above to be operated from the operation device 223 on the medical manipulator 100 side, the endoscope support apparatus 400 can be operated without using an assistant. That is, by controlling each rotation shaft portion of the robot arm 410, the held laparoscope 420 can be guided to an arbitrary position, that is, an endoscopic image of an arbitrary surgical field can be displayed on a monitor.

  Further, the horizontal dial 224 can be used for horizontal movement, the vertical dial 225 can be used for vertical movement, and the trigger 226 can be used for forward / backward movement. Note that not only a mechanical guidance operation but also an optical guidance operation (for example, a zoom operation) may be used.

  According to the present embodiment, a new operation interface for other devices such as an endoscope support device is not required, and a simple system configuration including peripheral devices can be achieved. Furthermore, since the operator can operate the endoscopic image and other devices, the operation as intended can be performed. In addition, since an assistant is not required, surgery (solosurgery) by a small number of people or one person is possible, and there is an advantage that problems such as a surgeon shortage can be solved.

  When the treatment unit is an electric knife, since the electric knife is usually a separate system, there are many cases where the operation is performed with a foot switch, and therefore it is not necessary to provide a treatment operation unit on the operation rod. Of course, a treatment operation unit (for example, a trigger) may be provided on the operation rod to send a command to the electric knife system side.

  The treatment section does not mean only a gripper or an electric knife, but also includes a CCD camera and an illumination system, and the movable operation includes a bending operation and an optical operation. That is, it is easy to apply the present application to a laparoscope (flexible endoscope) itself whose tip can be bent, and it is possible to provide a laparoscope (soft endoscope) with good operability. In this case, the bending operation is driven by a motor in the same manner as the manipulator. Of course, an optical visual field movement operation (up / down / left / right) can be applied instead of the bending operation.

  Note that the present invention is not limited to the above-described embodiment as it is, and can be embodied by modifying the constituent elements without departing from the scope of the invention in the implementation stage. In addition, various inventions can be formed by appropriately combining a plurality of components disclosed in the embodiment. For example, some components may be deleted from all the components shown in the embodiment. Furthermore, constituent elements over different embodiments may be appropriately combined.

The perspective view which shows the medical manipulator system which concerns on the 1st Embodiment of this invention. The side view which shows the medical manipulator integrated in the medical manipulator system. The perspective view which shows the working part integrated in the medical manipulator. Explanatory drawing which shows the operation part integrated in the medical manipulator. The disassembled perspective view which shows the principal part of the operation part. It is a block diagram which shows the structure of the control apparatus integrated in the medical manipulator. The perspective view which shows the modification of the operating rod integrated in the operation part. The perspective view which shows the modification of the operating rod integrated in the operation part. The perspective view which shows the modification of the operating rod integrated in the operation part. The perspective view which shows the modification of the operating rod integrated in the operation part. Sectional drawing which shows the principal part of the operating rod. The perspective view which shows the modification of the working part integrated in the medical manipulator. The perspective view which shows the modification of the medical manipulator. Explanatory drawing which shows the modification of the operation part integrated in the medical manipulator. Explanatory drawing which shows the modification of the operation part integrated in the medical manipulator. Explanatory drawing which shows the modification of the operation part integrated in the medical manipulator. Explanatory drawing which shows the operation amount comparison calculation of the operation part integrated in the medical manipulator. Explanatory drawing which shows the operation amount comparison calculation of the operation part integrated in the medical manipulator. Explanatory drawing which shows the modification of the operation part integrated in the medical manipulator. The side view which shows the modification of the operation part. The perspective view which shows the modification of the operation part. The side view which shows the principal part of the medical manipulator which concerns on the 2nd Embodiment of this invention. The perspective view which shows the working part of the medical manipulator. The principal part side view which shows the modification of the medical manipulator. The side view which shows the principal part of the medical manipulator which concerns on the 1st reference example of this invention. The side view which shows the principal part of the medical manipulator which concerns on the 2nd reference example of this invention. The perspective view which shows the endoscope support apparatus used with the medical manipulator which concerns on the 1st Embodiment of this invention. Explanatory drawing which shows the conventional medical manipulator. The perspective view which shows the conventional medical manipulator. The perspective view which shows the conventional medical manipulator. The side view which shows the conventional medical manipulator.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 100 ... Medical manipulator system, 200, 270, 280, 290 ... Medical manipulator, 210 ... Working part, 211 ... Pitch axis rotation support part, 212 ... Yaw axis rotation support part, 213 ... Treatment tool, 220, 250 , 260 ... operation unit, 222 ... operation rod, 223 ... operation device, 224 ... horizontal dial, 225 ... vertical dial, 226 ... trigger, 227 ... operation mode changeover switch, 230 ... connection unit, 300 ... control device, 400 ... Endoscope support device.

Claims (12)

A treatment section inserted into the subject;
A working unit that rotatably supports the treatment unit around the first axis and the second axis;
An arm part to which this working part is connected to the tip side;
An operation portion provided on the base end side of the arm portion,
The operation portion is disposed at a position shifted from a straight line connecting the distal end and the proximal end of the arm portion, and an attachment portion provided on the proximal end side of the arm portion;
An operating rod that extends from the mounting portion toward a straight line connecting the distal end and the base end of the arm portion and is rotatably supported around a third axis that intersects the straight line so as to be substantially orthogonal to the straight line
An operating device that is provided on the operating rod and causes the treatment portion to rotate around the first axis and the second axis ;
The manipulator device characterized in that the distance between the end of the operating rod on the third axis opposite to the attachment portion and the treatment portion is substantially constant regardless of the rotational position of the operating rod . The operation device is provided with a plurality on the operating rod, a plurality of the operation devices, the manipulator device according to Claim 1, characterized in that it is arranged on one plane containing the third axis. The operation device includes a first dial corresponding to a turning operation around the first axis of the working unit;
3. The manipulator device according to claim 1, further comprising: a second dial corresponding to a rotation operation of the working unit around the second axis; and a trigger corresponding to a treatment operation of the treatment unit. The manipulator device according to claim 3 , wherein a reference position indicating unit is formed on at least one of the first dial, the second dial, and the trigger. The manipulator device according to claim 3 , wherein the first dial and the second dial are different in size. The manipulator apparatus according to claim 2 , wherein at least one of the operation devices includes a reflecting plate and a plurality of irradiation light receiving units arranged with respect to the reflecting plate.   The manipulator device according to claim 1, further comprising a fixing portion that fixes a rotation position of the operation rod with respect to the third axis. Arranged so that the central portion of the operating rod in the third axial direction is closer to the center of gravity of the manipulator device than the intersection of the straight line connecting the distal end and the proximal end of the arm portion in the third axial direction. The manipulator device according to claim 1 , wherein the manipulator device is provided. The operation device, the manipulator device according to claim 1, wherein further comprising a device associated with the first axis of pivotal movement and the second axis of rotation of the working unit. The means for comparing the position command value change by the rotation operation command about the first axis and the rotation operation command about the second axis of the operation device and the amount of change according to the comparison result of the comparison means The manipulator device according to claim 9, further comprising means for preferentially transmitting a large position command value to the working unit. The change of the position command value by the rotation operation command about the first axis and the rotation operation command about the second axis of the operation device is compared with a preset reference value, and the working unit is set according to the comparison result. The manipulator device according to claim 10 , wherein the manipulator device transmits the manipulator. The ratio of the rotational operation of a position instruction value, respectively according to the position command value and the rotation operation command of the second axis by rotating the operation command of the first axis is the first axis and the second axis differ in the manipulator device according to claim 8, wherein.

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