JP6762280B2 - Forceps system - Google Patents

Description

The present invention relates to a forceps system.

In recent years, minimally invasive surgery (MIS), which places a relatively small burden on patients, has attracted attention in the medical field. Laparoscopic surgery, which is a typical method of MIS, is performed by inserting an instrument such as forceps through a hole formed in the patient's body. Surgical support robots such as DaVinci manufactured by Intuitive Surgical, which perform this laparoscopic surgery by remote control, have been developed. For example, Patent Document 1 and Patent Document 2 are composed of an operation unit (master side) operated by an operator and a grip unit (slave side) installed at a remote location and actually gripping an object. A forceps system that controls the grip according to the operation of the portion is described.

International Publication No. 2005/109139 International Publication No. 2015/041046

However, although remote-controlled surgery support robots can dramatically improve the performance of surgeons, they are generally expensive and expensive to install due to the complexity and size of the device. It is necessary to secure enough space for. Further, in order to master such a remote-controlled operation support robot, the operator needs to train for a long period of time. For this reason, there are many demands for medical instruments that are simpler, can be used without special training, and have excellent operability. In particular, forceps for grasping and pulling tissues and organs are not limited to remote-controlled types, but are simple and conventional because they are used daily in medical settings such as examinations and diagnoses in addition to surgery. It is hoped that it can be used in the same way as the one.

The present invention has been made in view of the above background, and an object of the present invention is to provide a forceps system that is simple, can be used with the same feeling as a conventional one, and has excellent operability.

The forceps system according to one aspect of the present invention is pivotally supported by a head portion having a first rotary motor and a second rotary motor, and is connected to the first rotary motor via a power transmission mechanism for operation. An operation unit operated by a person, a shaft portion attached to the head portion, and
A grip portion that is disposed at the tip of the shaft portion and sandwiches an object, penetrates the shaft portion, one end is connected to the grip portion via a link mechanism, and the other end is power transmission with the second rotary motor. The operation member connected via a mechanism and a control unit for controlling the first rotation motor and the second rotation motor are provided, and the control unit is the first rotation motor by bilateral control based on acceleration. The angle response between the first rotary motor and the second rotary motor is controlled according to the angular deviation of the second rotary motor, and the torque deviation between the first rotary motor and the second rotary motor is increased. It controls the torque response of the first rotary motor and the second rotary motor.

According to the present invention, it is possible to provide a forceps system that is simple, can be used with the same feeling as a conventional one, and has excellent operability.

It is a schematic diagram which shows the schematic structure of the forceps system which concerns on this embodiment. It is a figure which shows the internal structure of the shaft part in the region A shown by the broken line of FIG. It is a figure which shows the prototype of the forceps system which concerns on this embodiment. It is a figure which shows the internal structure of the head part in the prototype of the forceps system shown in FIG. It is a figure which shows the state which the prototype of the forceps system shown in FIG. 3 is held by the operator U. It is a block diagram which shows the outline of the control in the control part of the forceps system which concerns on this embodiment. FIG. 6 is a block diagram showing an outline of control of DOB and RTOB in the block diagram shown in FIG. It is a graph which shows the measurement result about the torque response and the angular response in the master and the slave when the experiment 1 was performed (without scaling). It is a graph which shows the measurement result about the torque response and the angular response in a master and a slave when Experiment 1 was performed (with scaling). It is a figure explaining the experimental procedure in Experiment 2. It is a figure explaining the experimental procedure in Experiment 2. It is a figure explaining the experimental procedure in Experiment 2. It is a figure explaining the experimental procedure in Experiment 2. It is a graph which shows the measurement result about the torque response and the angular response in a master and a slave during the experiment 2. It is a figure which shows an example of the screen which displayed the data measured by the forceps system on a mobile terminal.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
First, a schematic configuration of the forceps system according to the present embodiment will be described with reference to FIG. FIG. 1 is a schematic view showing a schematic configuration of the forceps system 1 according to the present embodiment. As shown in FIG. 1, the forceps system 1 includes a shaft portion (shaft) 2, a grip portion (end effector) 3, a head portion 4, and a control portion 5.

The shaft portion 2 and the grip portion 3 provided at the tip of the shaft portion 2 are portions to be inserted into the patient's body, and the same forceps as existing forceps can be used. FIG. 2 is a diagram showing an internal structure of the shaft portion 2 in the region A shown by the broken line in FIG. As shown in FIG. 2, the grip portion 3 is connected to the operating member 18 penetrating the inside of the shaft portion 2 via a link mechanism 19. As shown in the upper part of FIG. 2, when the operating member 18 is moved toward the grip portion 3, the link mechanism 19 opens and the grip portion 3 opens. Further, as shown in the lower part of FIG. 2, when the operating member 18 is moved in the direction opposite to the grip portion 3, the link mechanism 19 closes and the grip portion 3 closes.

Returning to FIG. 1, the head portion 4 includes an operation portion 6, a grip portion 7, a first rotary motor 8 and a second rotary motor 9. Further, the shaft portion 2 is attached to the head portion 4.

The operation unit 6 is a lever for the operator to operate the forceps system 1, and is rotatably supported by the rotation shaft 6a in the head unit 4. Further, the operation unit 6 is formed with a hole 6b for the operator to hang a finger on the operation unit 6. The operation unit 6 is connected to the first rotary motor 8 via gears as a power transmission mechanism housed in the head unit 4. That is, the pinion gear 13a attached to the rotating shaft 6a of the operation unit 6 is engaged with the pinion gear 13b attached to the rotating shaft 8a of the first rotary motor 8.

When the operator rotates the operation unit 6, the operating force exerted on the operation unit 6 is transmitted to the first rotary motor 8. On the contrary, the torque of the first rotary motor 8 is transmitted to the operator as a reaction force via the operation unit 6. As a matter of course, not only when the pinion gear 13a directly engages with the pinion gear 13b, the pinion gear 13a may be configured to engage with the pinion gear 13b via some other pinion gear.

The operating member 18 is connected to the second rotary motor 9 via gears as a power transmission mechanism housed in the head portion 4. That is, in the operating member 18, the rack gear 14a attached to the other end on the opposite side to the one end connected to the grip portion 3 via the link mechanism 19 (see FIG. 2) is attached to the rotating shaft 9a of the second rotating motor 9. It is engaged with the attached pinion gear 14b. The rack gear 14a and the pinion gear 14b convert the rotary motion of the second rotary motor 9 into a linear motion. That is, when the second rotary motor 9 rotates, the operating member 18 linearly moves, and the linear motion drives the link mechanism 19 to open and close the grip portion 3.

The second rotary motor 9 is not mechanically connected to the first rotary motor 8. The first rotary motor 8 and the second rotary motor 9 are each electrically connected to the control unit 5. The first rotary motor 8 and the second rotary motor 9 are mutually controlled by the control unit 5. Details of the control of the first rotary motor 8 and the second rotary motor 9 in the control unit 5 will be described later.

FIG. 3 is a diagram showing a prototype of the forceps system 1 according to the present embodiment. The existing forceps 501 are also shown in the upper part of FIG. 3 for comparison. As shown in FIG. 3, in the prototype of the forceps system 1, the external dimensions are larger than those of the conventional forceps by the size of the head portion 4 including the two rotary motors (the first rotary motor 8 and the second rotary motor 9). It has become. The first rotary motor 8 and the second rotary motor 9 are connected to the control unit 5 (see FIG. 1) via the wiring 15.

The shaft portion 2 is detachably attached to the head portion 4 via a connecting portion 12. When the shaft portion 2 is detachably attached to the head portion 4, the operating member 18 shown in FIGS. 1 and 2 can be divided via a joint. With this configuration, if a plurality of shaft portions 2 provided with grip portions 3 having different shapes are prepared in the forceps system 1, the grip portions 3 having a shape suitable for the situation can be appropriately obtained by replacing the shaft portions 2. You can choose.

On the other hand, the existing forceps 501, like the forceps system 1, includes a shaft portion 502 and a grip portion 503, and further includes handle portions 504 and 505 for opening and closing the grip portion 503. The mechanism for opening and closing the grip portion 503 is the same as the mechanism for opening and closing the grip portion 3 of the forceps system 1 shown in FIG. In the existing forceps 501, the operator moves the shaft-supported handle portion 505 to linearly move the operating member inside the shaft portion 502 to open and close the grip portion 503.

FIG. 4 is a diagram showing an internal structure of the head portion 4 in the prototype of the forceps system 1 shown in FIG. Note that FIG. 4 shows the internal structure of the head portion 4 as viewed from the direction of arrow B in FIG. As shown in FIG. 4, the first rotary motor 8 and the second rotary motor 9 pass through the central axis in the longitudinal direction of the shaft portion 2 and face each other with a virtual plane parallel to the rotating plane of the operation portion 6. However, although each rotation axis is arranged so as to be on a coaxial line, it is not mechanically connected. By arranging the first rotary motor 8 and the second rotary motor 9 in this way, it is difficult to apply an extra moment to the operator U who grips the grip portion 7, so that the operability is improved, which is preferable. The arrangement is not limited, and other arrangements are possible. The power transmission mechanism such as the pinion gear 13a and the pinion gear 13b connected to the first rotary motor 8 and the power transmission mechanism such as the rack gear 14a and the pinion gear 14b connected to the second rotary motor 9 have a small number of parts and the head portion. Can be stored compactly in 4.

As shown in FIGS. 3 and 4, in the prototype of the forceps system 1, the first rotary motor 8 and the second rotary motor 9 occupy a large proportion of the total weight. However, the total weight of the prototype of the forceps system 1 is about 0.625 kg, which is suppressed to a level that can be used without major trouble in an actual medical field. In this prototype, MDH-4006 manufactured by Microtech Laboratory is used as the first rotary motor 8 and the second rotary motor 9. In the future, the forceps system 1 can be further reduced in weight by reducing the weight of the first rotary motor 8 and the second rotary motor 9.

FIG. 5 is a diagram showing a state in which the prototype of the forceps system 1 is held by the operator U. As shown in FIG. 5, the grip portion 7 is gripped, and a finger is placed on the hole formed in the operation portion 6 for operation. The grip portion 7 is sized so that it can be gripped by the entire palm. By configuring the grip portion 7 in this way, the operator U can stably hold the forceps system 1, so that the existing forceps 501 (see FIG. 3) is unaware of the weight of the forceps system 1. ), The forceps system 1 can be used.

Next, the control of the first rotary motor 8 and the second rotary motor 9 in the control unit 5 shown in FIG. 1 will be described.
The first rotary motor 8 and the second rotary motor 9 are mutually controlled by the control unit 5 by an acceleration-based bilateral control method. Here, bilateral control is one of the general control methods, and controls the position of an object and the force acting on the object with good responsiveness to realize delicate work. That is, in the acceleration-based bilateral control, the operator can move the master (operation side) to make the slave (working side) move in response to the movement of the master, and the slave receives feedback from the object. The force can be fed back to the master operator. In the forceps system 1 according to the present embodiment, the operation unit 6 actually operated by the operator and the first rotary motor 8 connected to the operation unit 6 via the power transmission mechanism are masters. Further, the grip portion 3 acting on the object and the second rotary motor 9 connected to the grip portion 3 via the power transmission mechanism, the operating member 18, and the like are slaves. Further, the acceleration reference means that the angular acceleration is used as the control amount instead of the torque.

It may have a scaling function in the acceleration-based bilateral control applied to the control unit 5. Here, the scaling function is a function of enlarging or reducing the scale of the output position or force with respect to the input position or force. In the bilateral control applied to the control unit 5, a scaling gain is introduced in at least one of torque and angle, and scaling is performed in at least one of torque and angle between the first rotary motor 8 and the second rotary motor 9. Give rise. For example, when performing delicate work, the scale of the torque or force output by the slave is reduced with respect to the torque or force input by the operator from the master. By doing so, the operability can be further improved.

で表す。 FIG. 6 is a block diagram showing an outline of control in the control unit 5 of the forceps system 1. Here, α represents the scaling gain of the angular response, β represents the scaling gain of the torque response, C _p represents the position controller, and C _f represents the force controller. The angular responses in the master and slave are represented by θ _M ^res and θ _S ^res , respectively. Also, the reaction torque in the master and slave,

It is represented by.

As shown in FIG. 6, the angles and torques of the first rotary motor 8 as a master and the second rotary motor 9 as a slave are determined by a disturbance observer (DOB) and a reaction force torque estimation observer (RTOB). It is controlled using a Torque Observer).

FIG. 7 is a block diagram showing an outline of control of DOB and RTOB. Here, theta ^res angle ^{response, I ref} is a current ^{reference, T REAC} is the reaction ^{torque, T dis} is the disturbance _{torque, K tn} is a torque _{constant, g dis} is low-pass filter to the disturbance torque cut-off _{frequency, g REAC} the reaction The cutoff frequency of the low-pass filter with respect to torque, D is viscosity, J _n is inertia, and F _c is Coulomb friction.

The DOB is designed to quickly estimate and compensate for disturbances. Robust acceleration control is achieved by estimating the total disturbance torque by DOB and performing compensation using the estimated disturbance torque. As shown in FIG. 7, the estimated sum of the disturbance torques is obtained by the current reference and the angular acceleration response. Also, the angular acceleration response is usually calculated by the second derivative of the angular response obtained by the encoder. That is, the total disturbance torque is expressed by the following equation.

RTOB is applied to estimate reaction torque without using a torque sensor. The RTOB estimates the reaction torque applied to each rotary motor (first rotary motor 8, second rotary motor 9) from the object based on the DOB. That is, in RTOB, the reaction torque is estimated by subtracting other forces such as internal friction that can be estimated in advance from the sum of the disturbance torques estimated by DOB.

In the bilateral control shown in FIG. 6, it is necessary to satisfy two goals at the same time in order to transmit a clear tactile sensation. One is to track the positional responses of the master and slave to each other. The other is to artificially achieve the law of action and reaction between the master and the slave. These goals are expressed by the following equations.
θ _M ^res − θ _S ^res = 0 ... (Equation 2)
^{_{T M reac + T S reac =}} 0 ··· ( Equation 3)
That is, the angular response of the first rotary motor 8 and the second rotary motor 9 is controlled according to the angular deviation between the first rotary motor 8 and the second rotary motor 9. Further, the torque response of the first rotary motor 8 and the second rotary motor 9 is controlled according to the torque deviation between the first rotary motor 8 and the second rotary motor 9. According to the acceleration-based bilateral control based on the concept of mode, (Equation 2) and (Equation 3) can be realized at the same time.

Furthermore, motion scaling is realized by acceleration-based bilateral control. The scaling goal of bilateral control is expressed as follows.
θ _M ^{res −} α θ _S ^res = 0 ... (Equation 4)
^{_{T M reac + βT S reac =}} 0 ··· ( Equation 5)
These goals can be described in oblique coordinates. Bilateral control is realized by oblique coordinate control. The reproducibility of the environmental impedance can be arbitrarily set by changing the scaling gains α and β.

Next, an experiment for evaluating the function of forceps transmission of the forceps system 1 according to the present embodiment will be described below. In the following description, FIG. 1 is appropriately referred to for the configuration of the forceps system 1, and FIGS. 6 and 7 are appropriately referred to for the control of the forceps system 1.

Using the prototype of the forceps system 1 shown in FIG. 3, two experiments (Experiment 1 and Experiment 2) were performed to evaluate the function of force sense transmission. In the bilaterally controlled position controller Cp (s) = Kp + Kvs and the force controller Cf = Kf, the parameters are Kp = 2500, Kvs = 100.0, Kf = 0.8000, g _dis = 472.1, g. _Reac = 472.1 was set respectively.

<Experiment 1>
First, an experiment conducted to verify the ability of the forceps system 1 according to the present embodiment to recognize the rigidity of the environment will be described.
In Experiment 1, the forceps system 1 is used to operate in the order of opening / closing operation without gripping anything, gripping a soft object (low-rigidity environment), and gripping a hard object (high-rigidity environment). A sponge was used as the soft object, and an aluminum block was used as the hard object.

When the grip portion 3 grips the object as opposed to the case where the grip portion 3 grips nothing, the torque response should be increased by the reaction force received from the object. Further, when the sponge as the object is grasped by the grip portion 3, the object is crushed, whereas when the aluminum block as the object is grasped by the grip portion 3, the object is very hard and almost It won't collapse. Therefore, when the grip portion 3 grips the aluminum block which is a hard object, the angular response should be smaller than when the sponge which is a soft object is grasped.

FIG. 8 shows the torque in the first rotary motor 8 as a master and the second rotary motor 9 as a slave when Experiment 1 was performed without scaling by bilateral control (α = 1, β = 1). It is a graph which shows the measurement result about the response and the angular response. Here, in FIG. 8A, the horizontal axis represents the elapsed time [s] and the vertical axis represents the torque response [Nm]. In FIG. 8B, the horizontal axis represents the elapsed time [s] and the vertical axis represents the angular response [rad]. Further, in FIG. 8A, the solid line shows the torque response in the master, and the broken line shows the torque response in the slave. Similarly, in FIG. 8B, the solid line shows the angular response at the master and the dashed line shows the angular response at the slave.

As shown in FIG. 8, when the elapsed time is between 0 seconds and 5 seconds, the gripping portion 3 performs an opening / closing operation in which nothing is gripped. The first rotary motor 8 as a master and the second rotary motor 9 as a slave rotate according to the operating force acting on the master. Therefore, when the elapsed time is from 0 seconds to 5 seconds, the torque response is small because nothing is gripped by the grip portion 3. When the elapsed time is between 5 seconds and 10 seconds, the grip portion 3 grips the sponge. Due to the reaction force from the sponge, the torque stress is larger than in the case of opening / closing operation in which nothing is gripped. When the elapsed time is between 12 seconds and 18 seconds, the grip portion 3 grips the aluminum block. The torque response is about the same as when grabbing the sponge, but the angular response is smaller than when grabbing the sponge.

FIG. 9 shows the torque response of the first rotary motor 8 as a master and the second rotary motor 9 as a slave when the experiment 1 is performed by scaling with bilateral control (α = 2, β = 2). It is a graph which shows the measurement result about the angle response. Here, in FIG. 9A, the horizontal axis represents the elapsed time [s] and the vertical axis represents the torque response [Nm]. In FIG. 9B, the horizontal axis represents the elapsed time [s] and the vertical axis represents the angular response [rad]. Further, in FIG. 9A, the solid line shows the torque response in the master (Master), and the broken line shows the torque response in the slave (Slave). Similarly, in FIG. 9B, the solid line shows the angular response in the master and the dashed line shows the angular response in the slave.

As shown in FIG. 9A, since the scaling gain α of the angular response and the scaling gain β of the torque response are both set to 2, the torque response and the angular response of the master are the torque response and the angular response of the slave, respectively. It has doubled. That is, it was confirmed that the forceps system 1 correctly realized the scaling of force sense transmission. Further, the behavior of the torque response and the angle response when the scaling shown in FIG. 9 is performed is almost the same as the behavior of the torque response and the angle response when the scaling shown in FIG. 8 is not performed.

From the above, it was confirmed that the operator can recognize the difference in the rigidity of the environment through the forceps system 1 in both the case of scaling and the case of not scaling.

<Experiment 2>
Next, an experiment 2 for confirming whether the forceps system 1 according to the present embodiment can be used in the same manner as the existing forceps will be described. In Experiment 2, in order to simulate an actual MIS, a needle with a thread was inserted into a pad simulating an organ, and a knot was tied.

10 to 13 are diagrams for explaining the experimental procedure in Experiment 2. In Experiment 2, as shown in FIGS. 10 to 13, the forceps system 1 according to the present embodiment was used with the right hand (left side in FIG. 10), and the existing forceps 501 was used with the left hand (right side in FIG. 10). .. The thread 32 and the needle 33 were the same as those used in the actual surgery. Further, the pad 31 is a member that simulates a patient's organ and has appropriate softness.

First, as shown in FIG. 10, the needle 33 is held by the grip portion 3 in the forceps system 1, and the tip of the needle 33 is inserted into the pad 31. Subsequently, as shown in FIG. 11, the needle 33 is pulled out from the pad 31 by the grip portion 3 in the forceps system 1. Subsequently, as shown in FIG. 12, the thread 32 is held by the grip portion 3 of the forceps system 1, the needle 33 is held by the existing forceps 501, and the existing forceps 501 is moved to form a loop made of the thread 32. Make and pass the needle 33 through the loop. Finally, as shown in FIG. 13, the thread 32 held by the grip portion 3 of the forceps system 1 and the needle 33 held by the existing forceps 501 are pulled in opposite directions to tie a knot.

The feeling of use of the operator when performing the operation of tying a knot with the forceps system 1 according to the present embodiment was almost the same as that of performing the operation with the existing forceps 501. That is, it was confirmed that the forceps system 1 according to the present embodiment can be used for actual medical practice such as MIS.

FIG. 14 is a graph showing the measurement results of the torque response and the angle in the master and the slave during the experiment 2. In FIG. 14A, the horizontal axis represents the elapsed time [s] and the vertical axis represents the torque response [Nm]. In FIG. 14B, the horizontal axis represents the elapsed time [s] and the vertical axis represents the angular response [rad]. Further, in FIG. 14A, the solid line shows the torque response in the master, and the broken line shows the torque response in the slave. Similarly, in FIG. 14B, the solid line shows the angular response at the master and the dashed line shows the angular response at the slave. In Experiment 2, the scaling gains α and β in the bilateral control of the forceps system 1 were set to 1. That is, the torque response and the angular response are almost equal between the master and the slave. Further, the periods indicated by (i), (ii), (iii), and (iV) in the graph correspond to the periods during which the procedures shown in FIGS. 10, 11, 12, and 13 are performed, respectively. To do.

As shown in FIG. 14, in the period (i) (the period of the procedure of FIG. 10), the torque response increases at the elapsed time of 8 seconds. This is because the operator strongly grips the needle 33 at the moment when the needle 33 is inserted into the pad 31. In the period (ii) (the period of the procedure of FIG. 11), a large torque response of about 0.2 Nm is obtained in the elapsed time of 22 seconds. This indicates that a strong gripping force was required to pull out the needle 33 from the pad 31.

During the period (iii) (the period of the procedure of FIG. 12), the forceps system 1 only holds the thread 32, and the existing forceps 501 is moved to form a loop with the thread 32, and the needle 33 is formed in the loop. Through. Therefore, the torque response and the angular response in the forceps system 1 are constant. In the period (iV) (the period of the procedure of FIG. 13), the torque response is increased to about 0.1 Nm at an elapsed time of 64 seconds. This is because the operator pulled the thread 32 held by the grip portion 3 of the forceps system 1 to tie a knot. As described above, it was confirmed that the data acquired by the forceps system 1 in Experiment 2 was consistent with the series of behaviors.

The results measured by the forceps system 1 during Experiments 1 and 2 can be stored in a storage medium such as memory. The storage medium may be provided in the forceps system 1 or may be provided in an external analysis device separate from the forceps system 1. The external analyzer is, for example, a personal computer, a mobile terminal such as an iPhone (registered trademark) or an iPad (registered trademark). When the storage medium is provided as a separate body from the forceps system 1, the forceps system 1 further includes transmission means, and the transmission means are transmitted from the control unit 5 to the first rotary motor 8 and the second rotary motor 9, respectively. The torque and angle data in the above are acquired, and the data is transmitted to the mobile terminal. The transmission means may be one that performs wired communication such as an electric wire and an optical fiber, or one that performs wireless communication.

FIG. 15 is a diagram showing an example of a screen in which the data measured by the forceps system 1 is displayed on an external analyzer. Regarding the display in the figure, Motor 0 represents the first rotary motor 8 (see FIG. 1), and Motor 1 represents the second rotary motor 9 (see FIG. 1). As shown in FIG. 15, during the operation of the forceps system 1, the position, velocity, and force of the first rotary motor 8 and the second rotary motor 9 can be confirmed in real time. it can. Further, if the measurement data is recorded by pressing the Start Record button, the measurement data can be analyzed separately. As a result, for example, it becomes possible to quantify the delicate force adjustment in the forceps operation of the surgeon during the operation, and the skill of the surgeon can be improved.

The present invention is not limited to the above embodiment, and can be appropriately modified without departing from the spirit.

1 Force force system 2 Shaft 3 Grip 4 Head 5 Control 6 Operation 6a, 8a, 9a Rotating shaft 6b Hole 7 Grip 8 1st rotary motor 9 2nd rotary motor 12 Connection 13a, 13b, 14b Pinion gear 14a Rack gear 15 Wiring 18 Operating member 19 Link mechanism

Claims (4)

A head portion having a first rotary motor and a second rotary motor that are not mechanically connected,
An operation unit that is rotatably supported by the head unit, is connected to the first rotation motor via a power transmission mechanism, and is operated by an operator.
A grip part installed on the head part and gripped by the operator,
The shaft part attached to the head part and
A grip portion installed at the tip of the shaft portion and sandwiching an object,
An operating member that penetrates the shaft portion, has one end connected to the grip portion via a link mechanism, and the other end is connected to the second rotary motor via a power transmission mechanism.
A control unit that executes bilateral control in the operation of the first rotary motor and the operation of the second rotary motor is provided.
The first rotary motor and the second rotary motor are installed in the head portion adjacent to the installation position of the grip portion.
The control unit
The acceleration is calculated based on the rotation angle of the first rotary motor and the rotation angle of the second rotary motor, and the grip force of the second rotary motor in the grip portion and the reaction force of the first rotary motor to the operation portion. By calculating and executing the acceleration-based bilateral control, the gripping operation of the gripping portion by the second rotating motor and the reaction force output operation of the operating portion by the first rotating motor are associated with each other. Control and
A forceps system characterized in that it is configured as a forceps-type integrated device. The second rotary motor according to claim 1, wherein the first rotary motor and the second rotary motor are installed on opposite sides to a rotating surface on which the operation unit operated by the operator rotates. Forceps system. The control unit has an acceleration obtained from the rotation angle of the first rotary motor corresponding to the position of the operation unit and an acceleration obtained from the rotation angle of the second rotary motor corresponding to the position of the grip portion. Based on the above, the bilateral control is executed by controlling the rotation angle and torque in the operation of the first rotary motor in association with the rotation angle and torque in the operation of the second rotary motor. The forceps system according to claim 1 or 2. The control unit estimates the disturbance based on the current reference in the first rotation motor and the second rotation motor and the rotation angle output by the first rotation motor and the second rotation motor, and estimates the disturbance. The forceps system according to any one of claims 1 to 3, wherein the compensating control is performed.

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