JP6815668B1 - Input device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an input device capable of easily expanding an operation input range for a medical robot. SOLUTION: A first input unit 20 is supported so as to be movable relative to the support unit 10, and the support unit 10 is movable relative to the support unit 10 together with the first input unit 20. A second input unit 30 configured to be movable relative to the first input unit 20, and a 40 measuring unit for measuring the amount of the first relative movement and the second relative movement are provided. It is characterized by. The first input unit 20 and the second input unit are moved first relative to the support unit 10 to input the operation amount, and the second input unit 30 is second to the support unit 10 and the first input unit 20. Since the operation amount can be input by moving relative to each other, it becomes easy to expand the operation input range for the medical robot. [Selection diagram] Fig. 1

Description

The present invention relates to an input device.

In recent years, there have been proposals for medical procedures using robots in order to reduce the burden on the surgeon and save labor in medical facilities. In the field of surgery, there is known a medical robot that treats a patient by using a multi-degree-of-freedom manipulator having a multi-degree-of-freedom arm that can be remotely controlled by an operator.

As a device for remotely controlling such a medical robot, an input device (master arm) for measuring the position and posture of an operator's hand by a 6-axis link mechanism has been proposed (see, for example, Patent Document 1). .. The purpose of this input device is to enable the medical robot to reproduce the movement of the operator's hand so that the operator can intuitively operate the medical robot.

JP-A-2017-104964

By the way, medical procedures using medical robots include minimally invasive surgery such as surgery using a laparoscope. Some surgical tools such as forceps used in minimally invasive surgery can perform movements that exceed the range of motion of the operator's hand, such as rotation of 360 degrees or more.

The input device described in Patent Document 1 has a configuration that enables intuitive operation within the range of motion of the operator's hand. However, there is a problem that the range beyond the range of motion of the operator's hand is not supported and the operation is difficult.

The present invention has been made to solve the above problems, and an object of the present invention is to provide an input device capable of facilitating an expansion of an operation input range for a medical robot.

In order to achieve the above object, the present invention provides the following means.
The input device of the present invention has a first input unit that is supported so as to be first relatively movable with respect to the support portion, and the first input unit that is movable relative to the support portion together with the first input unit. A second input unit configured to be movable relative to the support unit and the first input unit, and a measuring unit for measuring the amount of the first relative movement and the second relative movement are provided. It is characterized by being.

According to the input device of the present invention, the first input unit and the second input unit are moved relative to the support unit to input the operation amount, and further, the second input unit is input to the support unit and the first input unit. The operation amount can be input by moving the unit second relative.

For example, the input of the operation amount by the first relative movement is performed by one operation in the operator's hand. The input of the operation amount by the second relative movement is performed by another operation different from one operation in the operator's hand. Therefore, the input of the operation amount by one operation and the input of the operation amount by the other operation can be combined, and for example, the input of the operation amount exceeding the movable range of one operation becomes possible.

In the above invention, the first input unit is configured to be rotatable relative to the support portion, and the second input unit is rotatable relative to the support unit together with the first input unit. Moreover, it is preferable that the support portion and the first input portion are configured to be rotatable relative to the support portion and the first input portion.

By doing so, it is possible to input the operation amount by rotating the first input unit and the second input unit. Further, as compared with the case where the operation amount is input by the translation operation, the upper limit of the input amount by the operation is less likely to be limited in the rotation operation.

When the operation target by the first input unit and the second input unit is the rotation of the shaft in the surgical tool having the shaft, the operator intuitively operates it as compared with the case where the operation is performed by an operation other than the rotation operation. It will be easier.

In the above invention, the first input portion is formed in a cylindrical shape or a columnar shape and is arranged at a position facing the palm of the operator who grips the first input portion, and the second input portion is formed in a cylindrical shape or a columnar shape. In addition, it is preferable that the cylinder is arranged at a position facing the finger of the operator who grips the cylinder.

By doing so, the input of the operation amount by the first relative movement can be performed by the operation of twisting the wrist of the operator who grasps the first operation unit and the second operation unit. The operation amount by the second relative movement can be input by rotating the second input unit with the operator's finger.

Therefore, for example, within the movable range of the wrist, the operation amount by the first relative movement is input by twisting the wrist, and within the movable range of the wrist, the first input portion is further rotated by the finger to perform the second relative movement. The amount of operation can be input by.

In the above invention, the second input unit includes a pressing unit configured to be relatively movable in a direction of protruding and retracting from the outer surface of the second input unit, and a detecting unit for detecting the relative movement of the pressing unit. It is preferable that it is provided.

By providing the pressing unit and the detecting unit in this way, it becomes easy to perform an operation input in which an operation amount input using the first input unit and the second input unit and an operation input using the pressing unit are combined. For example, it is easy to simultaneously perform an operation input using the pressing unit and an operation input for first relative movement of the first input unit and the second input unit. Further, it becomes easy to independently perform the operation input for the first relative movement and the operation input using the pressing portion at an arbitrary timing.

In the above invention, it is preferable that at least one of the first input unit and the second input unit is provided with a force sense presenting unit that adds a resistance force to the relative movement of the pressing unit.

By providing the force sense presenting unit in this way, for example, when an external force is applied to the operation target related to the operation of the pressing unit, it becomes easy for the operator to perceive the external force applied to the operation target. For example, there is a method of presenting a force that increases the resistance to the relative movement of the pressing portion according to the magnitude of the external force.

According to the input device of the present invention, the first input unit and the second input unit are moved relative to the support unit to input the operation amount, and further, the second input unit is input to the support unit and the first input unit. Since the operation amount can be input by the second relative movement of the unit, there is an effect that the operation input range for the medical robot can be easily expanded.

It is an overall view which shows the input device which concerns on one Embodiment of this invention. It is a perspective view of the input device of FIG. It is a perspective view which looked at the input device of FIG. 1 from another direction. It is a figure which shows the internal structure of an input device. It is an enlarged view which shows the structure of the pressing part. It is a figure which shows the structure of the pressing part and the force sense presentation part.

An input device according to an embodiment of the present invention will be described with reference to FIGS. 1 to 6. The input device 1 of the present embodiment is used for operating a medical robot which is a multi-degree-of-freedom manipulator having a multi-degree-of-freedom arm that can be remotely controlled. The medical robot will be described as a treatment of a patient by applying, for example, to an example having a gripper for gripping a curved needle for suturing.

As shown in FIG. 1, the input device 1 is provided with a support unit 10, a first input unit 20, a second input unit 30, and a measurement unit 40.

The support unit 10 has a configuration that supports the first input unit 20, the second input unit 30, and the measurement unit 40 in a translationally movable manner. Further, the support unit 10 has a configuration in which the first input unit 20, the second input unit 30, and the measurement unit 40 rotatably support the support unit 10 around the axis L.

The support unit 10 is provided with a sensor (not shown) that detects the translational movement of the first input unit 20, the second input unit 30, and the measurement unit 40 as an input of the translational movement to the medical robot. As the configuration of the support portion 10, a known mechanism such as a link mechanism can be used, and the specific configuration is not limited.

As shown in FIGS. 1 to 3, the first input unit 20 constitutes a portion gripped by the operator together with the second input unit 30. The first input unit 20 has a substantially cylindrical or substantially cylindrical structure centered on the axis L, and can rotate relative to the support unit 10 and the measuring unit 40 around the axis L (first relative movable). It has a good structure.

The first input unit 20 is arranged at a position distant from the support unit 10 as compared with the second input unit 30. In other words, it is arranged at a position closer to the operator who grips the input device 1 and at a position facing the palm of the operator who grips the input device 1 as compared with the second input unit 30.

The second input unit 30 constitutes a portion that is gripped by the operator together with the first input unit 20. The second input unit 30 has a substantially cylindrical or substantially cylindrical structure centered on the axis L, and the circumferential surface of the second input unit 30 extends continuously from the circumferential surface of the first input unit 20. There is.

The second input unit 30 has a configuration that can rotate relative to the support unit 10 and the measurement unit 40 around the axis L together with the first input unit 20, and also has a configuration around the axis L with respect to the first input unit 20. It has a structure that allows relative rotation (second relative movement).

The second input unit 30 is arranged between the first input unit 20 and the support unit 10. In other words, as compared with the first input unit 20, the input device 1 is arranged at a position away from the operator holding the input device 1 and at a position facing the finger of the holding operator.

The measuring unit 40 is a sensor that measures the relative rotational movement in which the first input unit 20 and the second input unit 30 are integrated, and the amount (phase) of the relative rotational movement of only the second input unit 30. The relative rotational movement amount measured by the measuring unit 40 is an input amount for the rotation operation in the medical robot. For example, it is the input amount of the operation of rotating the gripper holding the curved needle to perform the operation of suturing.

The measuring unit 40 is fixed to the support unit 10 by using the fixing unit 41 at a position where the support unit 10 is sandwiched between the measuring unit 40 and the second input unit 30. As shown in FIG. 4, the measuring unit 40 penetrates the fixing unit 41 and the supporting unit 10 and is connected to the second input unit 30. As the measuring unit 40, a known sensor capable of measuring the amount of relative rotational movement can be used.

As shown in FIGS. 4 and 5, the second input unit 30 is provided with a pressing unit 31 and a detecting unit 35. The pressing unit 31 and the detecting unit 35 are used, for example, for inputting an opening / closing operation of the gripper.

The pressing unit 31 has a shape that forms a part of the circumferential surface of the second input unit 30, and moves relative to the second input unit 30 in a direction of protruding from the circumferential surface (outer surface) and retracting. It is configured to be possible.

The pressing portion 31 is provided with a protruding portion 32 formed in a columnar shape protruding toward the axis L, and a roller 33 arranged at the tip of the protruding portion 32. The protruding portion 32 has a configuration in which the pressing portion 31 guides in a direction in which the pressing portion 31 moves relative to the second input portion 30. The roller 33 has a structure that is rotatable with respect to the protruding portion 32, and is used for presenting the force sense together with the force sense presenting unit 50 described later.

The detection unit 35 is a sensor that detects the relative movement of the pressing unit 31 with respect to the second input unit 30. The opening and closing of the gripper is controlled based on the relative movement detected by the detection unit 35. As a method for detecting the relative movement of the pressing unit 31 by the detecting unit 35, a known method can be used.

As shown in FIGS. 4 to 6, inside the first input unit 20 and the second input unit 30, a force sense presentation unit 50 that adds a resistance force to the relative movement of the pressing unit 31 is provided. The force sense presentation unit 50 is provided with a force sense generation unit 51, an inclined portion 55, and a connecting portion 59.

The force sense generation unit 51 is arranged inside the first input unit 20, and has a configuration for generating a resistance force against the relative movement of the pressing unit 31. The force sensation generating unit 51 of the present embodiment has a configuration in which a fluid is stored inside and deformation in the axial direction is allowed.
The force sense generation unit 51 is provided with an inflow / outflow unit 52 used for supplying and discharging a fluid.

The connecting unit 59 is located between the first input unit 20 and the second input unit 30, and is arranged between the force sense generating unit 51 and the inclined unit 55. The connecting unit 59 has a configuration that allows relative rotation between the first input unit 20 and the second input unit 30. In other words, it has a configuration that allows relative rotation between the force sense generating portion 51 and the inclined portion 55. In this embodiment, a bearing will be applied to an example having a configuration that allows relative rotation.

The inclined portion 55 is arranged inside the second input portion 30 and is arranged so as to be relatively movable along the axis L. The inclined portion 55 is provided with an inclined surface 56 that comes into contact with the roller 33 of the pressing portion 31. The inclined surface 56 is a surface that is inclined in a direction away from the force sensation generating portion 51 in the direction in which the pressing portion 31 is pushed.

Next, the input of the operation in the input device 1 having the above configuration will be described. For example, the case where the input device 1 is used to input an operation of rotating the gripper holding the curved needle to perform suturing will be described.

As shown in FIG. 2, the operator grips the input device 1 from the first input unit 20 side so as to wrap it with his / her palm. At this time, the first input unit 20 faces the palm and the second input unit 30 faces the finger. The pressing portion 31 of the second input portion 30 faces, for example, the thumb. The finger with which the pressing portion 31 faces may be a thumb or an index finger, and the finger is not limited.

The operator who grips the input device 1 performs an operation of causing the gripper to grip the curved needle. Specifically, as shown in FIG. 5, the operation of pressing the pressing unit 31 is performed. The pressing of the pressing unit 31 is detected by the detecting unit 35. The detection unit 35 outputs a signal for detecting the pressing of the pressing unit 31 to the control unit of the medical robot. The control unit to which the signal is input controls to close the gripper.

When the operator presses the pressing unit 31, the force sense presenting unit 50 presents the force sense as shown in FIG. Specifically, the resistance to the closing motion received by the gripper is presented. The force sense generation unit 51 of the force sense presentation unit 50 controls the internal pressure according to the above-mentioned resistance force. The pressure is controlled by supplying a fluid to the inside of the force sense generating unit 51 via the inflow / outflow unit 52 and discharging the fluid.

When the pressing portion 31 is pressed, the roller 33 of the pressing portion 31 moves while rolling on the inclined surface 56 of the inclined portion 55. The inclined portion 55 receives a force that moves in a direction approaching the force sense generating portion 51.

At this time, the inclined portion 55 receives a resistance force corresponding to the pressure inside the force sense generating portion 51. When the internal pressure is high, the resistance becomes large, and when the internal pressure is low, the resistance becomes small. Due to this resistance, the operator feels that the pressing portion 31 is easy to press and difficult to press.

As for the method of detecting the resistance force to the closing operation received by the gripper and the method of controlling the supply of the fluid to the force sensation generating unit 51, a known detection method and a known supply control method can be used.

By moving the input device 1 in translation, the operator performs an operation to bring the curved needle gripped by the gripper to a desired position. After that, the gripper is rotated to suture. Specifically, as shown in FIGS. 2 and 3, the operation of rotating the first input unit 20 and the second input unit 30 is performed.

The operator first twists the wrist to rotate the first input unit 20 and the second input unit 30 relative to the support unit 10. The relative rotation of the first input unit 20 and the second input unit 30 is measured by the measuring unit 40.

The measuring unit 40 measures the relative rotation amount (phase) of the first input unit 20 and the second input unit 30, and outputs a signal representing the measured value. The signal is input to the control unit of the medical robot. The control unit controls to rotate the gripper according to the input signal.

When the amount of rotation of the gripper due to the operation of twisting the wrist is insufficient, the operator uses a finger to further rotate the second input unit 30. At this time, the first input unit 20 does not rotate. That is, the second input unit 30 rotates relative to the support unit 10 and the first input unit 20.

The relative rotation of the second input unit 30 with respect to the support unit 10 and the first input unit 20 is measured by the measuring unit 40. The measuring unit 40 measures the relative rotation amount (phase) of the second input unit 30 and outputs a signal representing the measured value. The signal is input to the control unit of the medical robot. The control unit further controls the gripper to rotate according to the input signal.

Since the connection unit 59 of the force sense presentation unit 50 is connected so that the force sense generation unit 51 and the inclined portion 55 can rotate relative to each other, the second input unit 30 connects to the first input unit 20. Even if it rotates relatively, the force sense can be continuously presented to the pressing portion 31.

According to the input device 1 having the above configuration, the first input unit 20 and the second input unit 30 are relatively rotated with respect to the support unit 10 to input the operation amount, and further to the support unit 10 and the first input unit 20. On the other hand, the second input unit 30 can be relatively rotated to input the operation amount.

For example, the input of the operation amount for relatively rotating the first input unit 20 and the second input unit 30 is performed by twisting the wrist of the operator. The input of the operation amount for relatively rotating the second input unit 30 is performed by the operator's finger. Therefore, it is possible to combine the input of the operation amount by twisting the wrist and the input of the operation amount by the finger, and for example, it is possible to input the operation amount beyond the movable range of twisting the wrist.

By using the input device 1, it becomes easy to perform efficient surgery utilizing the range of motion of a medical robot such as a multi-degree-of-freedom manipulator. In addition, since it is not necessary to forcibly twist the wrist, it becomes easy to reduce the fatigue of the operator. As described above, it can exert a great effect on work such as suturing using a curved needle.

The operation amount can be input by rotating the first input unit 20 and the second input unit 30. Further, as compared with the case where the operation amount is input by the translation operation, the upper limit of the input amount by the operation is less likely to be limited in the rotation operation.

When the operation target by the first input unit 20 and the second input unit 30 is the rotation of the shaft in the surgical tool having the shaft, the operator intuitively compared with the case of operating by an operation other than the rotation operation. It will be easier to operate.

By providing the pressing unit 31 and the detecting unit 35, it is easy to perform an operation input in which the operation amount input using the first input unit 20 and the second input unit 30 and the operation input using the pressing unit 31 are combined. Become. For example, it is easy to simultaneously perform an operation input using the pressing unit 31 and an operation input for relatively rotating at least one of the first input unit 20 and the second input unit 30. Further, it becomes easy to independently perform the operation input for twisting the wrist and the operation input using the pressing unit 31 at arbitrary timings.

By providing the force sense presenting unit 50, for example, when an external force is applied to the operation target related to the operation of the pressing unit 31, it becomes easy for the operator to perceive the external force applied to the operation target.

The technical scope of the present invention is not limited to the above embodiment, and various modifications can be made without departing from the spirit of the present invention. For example, in the above embodiment, the description has been made by applying the example in which one pressing portion 31 is provided, but two or more pressing portions 31 may be provided.

Further, although the description has been made by applying the pressing portion 31 to an example in which the gripper is used for opening and closing, the pressing portion 31 may be used for other purposes. For example, it may be used as a clutch for controlling whether or not the operation input by the input device 1 is reflected in the control of the medical robot.

In the present embodiment, the first input unit 20 and the second input unit 30 have a substantially cylindrical shape or a substantially cylindrical shape extending in a straight line. It may have a shape that bends in an L shape. The operator grips a portion of the L-shaped first input unit 20 that extends so as to intersect the axis L.

In the present embodiment, the description has been made by applying the example in which the force sense is not presented with respect to the rotation of the first input unit 20 and the second input unit 30, but in at least one of the first input unit 20 and the second input unit 30. You may present a sense of force. As a configuration for presenting a sense of force to at least one of the first input unit 20 and the second input unit 30, a known configuration can be used.

Further, in the above embodiment, one measuring unit 40 is used to measure the relative rotation of the first input unit 20 with respect to the measuring unit 40 and the relative rotation of the second input unit 30 with respect to the measuring unit 40. However, a measuring unit for measuring the relative rotation of the first input unit 20 and a measuring unit for measuring the relative rotation of the second input unit 30 may be provided separately.

By doing so, for example, it becomes easy to change the magnification of the operation input by the relative rotation of the first input unit 20 and the operation input by the relative rotation of the second input unit 30. That is, it becomes easy to use the first input unit 20 for the control input that moves the gripper greatly and the second input unit 30 for the control input that moves the gripper small (precisely).

1 ... Input device, 10 ... Support unit, 20 ... 1st input unit, 30 ... 2nd input unit, 31 ... Pressing unit, 35 ... Detection unit, 40 ... Measurement unit, 50 ... Force sense presentation unit

Claims (2)

A first input unit that is rotatably supported by the first relative to the support unit,
A second input unit that can rotate first relative to the support unit together with the first input unit and can rotate second relative to the support unit and the first input unit.
A measuring unit that measures the amount of the first relative rotation and the second relative rotation , and
Is provided ,
The first input portion is formed in a cylindrical shape or a columnar shape, and is arranged at a position facing the palm of the operator to be gripped.
The second input portion is formed in a cylindrical shape or a columnar shape, and is arranged at a position facing the finger of the operator to be gripped.
The second input unit has
A pressing portion configured to be relatively movable in a direction of protruding from the circumferential surface and retracting from the circumferential surface of the second input portion, and a pressing portion.
A detection unit that detects the relative movement of the pressing unit,
An input device characterized by being provided with . It said first input unit and at least one of the second input unit includes an input device according to claim 1, wherein the force sense presenting section for adding a resistance to the relative movement of the pressing portion is provided ..

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